How to find inverse kinematics given D-H parameters?

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RoBoTBoY 2020-12-30

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https://ww2.mathworks.cn/matlabcentral/answers/705003-how-to-find-inverse-kinematics-given-d-h-parameters

评论： Ameer Hamza 2021-1-2

采纳的回答： Ameer Hamza

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?

Thanks in advance!

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Ameer Hamza 2020-12-30

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https://ww2.mathworks.cn/matlabcentral/answers/705003-how-to-find-inverse-kinematics-given-d-h-parameters#answer_586923

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.

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RoBoTBoY 2021-1-1

在 MATLAB Online 中打开

dhparams = [l1     -pi/2	l0   	0;
            l2	   0       l3      -pi/2;
            l4	   -pi/2	0    	0;
            0   	pi/2	l5  	0;
            0      -pi/2	l6  	0;
            0      0       l7      0];

I put them this way.

Ameer Hamza 2021-1-2

You need to put constant values for l1, l2, ..., l7. Symbolic variables will not work here.

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