helo, i am working on a simple 2 DOF robot. Even though I am using the masking vector as [ 1 1 0 0 0 0 ], I am getting error stating: Number of robot DOF must be >= the same number of 1s in the mask matrix This is my 2 DOF robot:

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Za Ka 2017-11-12

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回答： Youssef Ben Dhiab 2017-11-28

L(1) = Link([0, 0, 123, 0], 'R');
L(2) = Link([0, 0, 157, 0], 'R');
x1 = 45;
x2 = 64;
rad1 = x1 * pi/180;
rad2 = x2 * pi/180;
R = SerialLink(L, 'name', 'two link');
R.plot([rad1, rad2])
R.teach();
Td = transl([0.2, 0.3, -0.4,]) 
I = R.ikine(Td, [0, 0], [1, 1, 0, 0, 0, 0])

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Answer 1

Youssef Ben Dhiab 2017-11-28

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https://ww2.mathworks.cn/matlabcentral/answers/366570-helo-i-am-working-on-a-simple-2-dof-robot-even-though-i-am-using-the-masking-vector-as-1-1-0-0#answer_293496

Hi Za Ka, Change the last line like that : I = R.ikine(Td, 'q0', [0, 0], 'mask',[1, 1, 0, 0, 0, 0]) It should work. If it didn't you have to change the initial pose [0, 0] by some other values like [pi/2, pi] so that it can converge after less than 1000 iterations.