机械臂逆运动学代码问题

redmin

1. /****************************************************************
   
2. 函数功能：数学模型
   
3. 入口参数：末端执行器位姿态
   
4. 返回 值：无
   
5. **************************************************************/
   
6. void Kinematic_Analysis(float x,float y,float Beta,float Alpha)
   
7. {
   
8. float m,n,k,a,b,c,theta1,theta2,theta3,s1ps2;
   
9. m=l2*cos(Alpha)-x;
   
10. n=l2*sin(Alpha)-y;
    
11. k=(l1*l1-l0*l0-m*m-n*n)/2/l0;
    
12. a=m*m+n*n;
    
13. b=-2*n*k;
    
14. c=k*k-m*m;
    
15. theta1=(-b+sqrt(b*b-4*a*c))/2/a;
    
16. theta1=asin(theta1)*180/PI;
    
17. if(theta1>90)theta1=90;
    
18. if(theta1<-90)theta1=-90;
    
19. k=(l0*l0-l1*l1-m*m-n*n)/2/l1;
    
20. a=m*m+n*n;
    
21. b=-2*n*k;
    
22. c=k*k-m*m;
    
23. s1ps2=(-b-sqrt(b*b-4*a*c))/2/a;
    
24. 4
    
25. s1ps2=asin(s1ps2)*180/PI;
    
26. if(s1ps2>90)theta2=90;
    
27. if(s1ps2<-90)theta2=-90;
    
28. theta2=s1ps2-theta1;
    
29. if(theta2>90)theta2=90;
    
30. if(theta2<-90)theta2=-90;
    
31. theta3=Alpha*180/PI-theta1-theta2;
    
32. if(theta3>90)theta3=90;
    
33. if(theta3<-90)theta3=-90;
    
34. Target1 = 750-(Beta)*Ratio;
    
35. Target2 = 735+(theta1-90)*Ratio;
    
36. Target3 = 717-(theta2)*Ratio;
    
37. Target4 = 702-(theta3)*Ratio;;
    
38. Target5 = 750;
    
39. }

复制代码

Target1 = 750-(Beta)*Ratio;Target2 = 735+(theta1-90)*Ratio;
Target3 = 717-(theta2)*Ratio;
Target4 = 702-(theta3)*Ratio;;file:///C:\Users\17462\Documents\Tencent Files\1746285938\Image\C2C\$}6%K(BT79YZOM5NMMA%R6G.png
Target5 = 750
请问这几行代码什么意思？beta和ratio都是什么值？

WHEELTEC-Catt

机械臂逆解过程的详细推导在资料包中的这个位置会有文档详细说明，你所问的这个函数就在这个文档中