How to find inverse kinematics given D-H parameters?
31 次查看(过去 30 天)
显示 更早的评论
Hello world!
I have these D-H parameters and I want to find the inverse kinematics.
I have found the final pose of end-effector by hand through homogeneous transformations.
How can I do that?
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/473983/image.png)
Thanks in advance!
0 个评论
采纳的回答
Ameer Hamza
2020-12-30
First create a rigidBodyTree from dh parameters: https://www.mathworks.com/help/robotics/ref/rigidbodyjoint.setfixedtransform.html and then use inverseKinematics(): https://www.mathworks.com/help/robotics/ref/inversekinematics-system-object.html function.
3 个评论
Ameer Hamza
2021-1-2
You need to put constant values for l1, l2, ..., l7. Symbolic variables will not work here.
更多回答(0 个)
另请参阅
类别
在 Help Center 和 File Exchange 中查找有关 Robotics 的更多信息
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!