matlab资源 用于可配置机械臂仿真（从1ddl到6ddl）、正向和反向运动学的Matlab GUI仅供学习参考用代码.zip

# robotic_arm Matlab GUI for configurable robot arm simulation (from 1ddl to 6ddl), forward and inverse kinematics. Realized using Matlab 2018b, and match Matlab 2021a. Dependencies is "Rbotics-toolbox-matlab" : https://github.com/petercorke/robotics-toolbox-matlab All what you have to do: - Download files (GUI_ARM.m and GUI_ARM.fig) - Set the files in the same folder. - Open the Matlab file and execute the code, enjoy! To edit it : - Tap in the command window "guide". - Using the "guide" open the file GUI_ARM.fig - Edit as much as you want! Notices : - In the inverse kinematics, the choice of the object point is tricky. Not all points are achievable, it should be realizable in practice to get a result in the simulation unless the function wouldn't converge. It require also to be precise, use the exact value not an appoximation. - Also in inverse kinematics, the mask choise (binary vector [1;6]) should be manual in the code itself, because the DH parameters do not indicate the ddl variables. - For the plot3d it's not possible to be available for all possible configurations, you have to fix a configuration and add the stl file of the arm.