I want to find KUKA YouBot gripper's coordinate by using MatLab. For this reason, I wrote this code:
Code: Select all
%link 1:
q1 = 0; d1 = 0.147; a1 = 0.033; alpha1 = pi/2;
%link 2:
q2 = 0; d2 = 0; a2 = 0.155; alpha2 = 0;
%link 3:
q3 = 0; d3 = 0; a3 = 0.135; alpha3 = 0;
%link 4:
q4 = 0; d4 = 0; a4 = 0; alpha4 = pi/2;
%link 5:
q5 = 0; d5 = 0.187; a5 = 0; alpha5 = 0;
p = [cos(q1)*(-d5*sin(q2+q3+q4)+a3*cos(q2+q3)+a2*cos(q2))
sin(q1)*(-d5*sin(q2+q3+q4)+a3*cos(q2+q3)+a2*cos(q2))
d2-a2*sin(q2)-a3*cos(q2+q3)-d5*cos(q2+q3+q4)]
Thank you.