%定义机器人关节连杆参数，默认为标准DHL1 = Link('d', 0, 'a', 75, 'alpha', pi/2);L2 = Link('d', 0, 'a', 1101.48, 'alpha', 0);L3 = Link('d', 0, 'a', 155.77, 'alpha', pi/2,'offset',pi/2);L4 = Link('d', 483, 'a', 0, 'alpha',-pi/2);L5 = Link('d', 0, 'a', 0, 'alpha', pi/2);L6 = Link('d', 445.5, 'a', 0, 'alpha',0);robot=SerialLink( 返回小木虫查看更多