Matlab Robotics逆运动学求解函数（ikine）详细分析

注：全文为本人见解，如有错误请指点！

一. 源代码的解释

以下代码直接对robotics工具箱中的ikine 函数 进行解释

%SerialLink.ikine Inverse kinematics by optimization without joint limits
%
% Q = R.ikine(T) are the joint coordinates (1xN) corresponding to the robot
% end-effector pose T which is an SE3 object or homogenenous transform
% matrix (4x4), and N is the number of robot joints.
%
% This method can be used for robots with any number of degrees of freedom.
% 这个方法适用于任意自由度的机器人
%
% Options::
% 'ilimit',L        maximum number of iterations (default 500)      迭代次数
% 'rlimit',L        maximum number of consecutive step rejections (default 100)      最大连续拒绝次数
% 'tol',T           final error tolerance (default 1e-10)   最终误差容限
% 'lambda',L        initial value of lambda (default 0.1)   步长
% 'lambdamin',M     minimum allowable value of lambda (default 0)	步长的最小值
% 'quiet'           be quiet	输出保持安静
% 'verbose'         be verbose		输出内容详细
% 'mask',M          mask vector (6x1) that correspond to translation in X, Y and Z, 
%                   and rotation about X, Y and Z respectively.		mask向量，表示机器人自由度
% 'q0',Q            initial joint configuration (default all zeros)     迭代的初始关节形位
% 'search'          search over all configurations      搜索所有形位
% 'slimit',L        maximum number of search attempts (default 100)     最大搜索尝试数目
% 'transpose',A     use Jacobian transpose with step size A, rather than
%                   Levenberg-Marquadt      使用步长为A的雅可比转置，而不是LM方法
%
% Trajectory operation::
%
% In all cases if T is a vector of SE3 objects (1xM) or a homogeneous
% transform sequence (4x4xM) then returns the joint coordinates
% corresponding to each of the transforms in the sequence.  Q is MxN where
% N is the number of robot joints. The initial estimate of Q for each time
% step is taken as the solution from the previous time step.
% 使用上一步的解作为当前步的初始值
%
% Underactuated robots::    欠驱动机器人
%
% For the case where the manipulator has fewer than 6 DOF the solution
% space has more dimensions than can be spanned by the manipulator joint
% coordinates.
% 欠驱动机器人解空间维数比关节坐标维数多？
%
% In this case we specify the 'mask' option where the mask
% vector (1x6) specifies the Cartesian DOF (in the wrist coordinate
% frame) that will be ignored in reaching a solution.  The mask vector
% has six elements that correspond to translation in X, Y and Z, and rotation
% about X, Y and Z respectively.  The value should be 0 (for ignore) or 1.
% The number of non-zero elements should equal the number of manipulator DOF.
% 使用“mask”矢量指定失去的自由度，机器人自由度等于改矢量的非零元素的个数。
%
% For example when using a 3 DOF manipulator rotation orientation might be
% unimportant in which case use the option: 'mask', [1 1 1 0 0 0].
% 举个例子，当使用三自由度机械手时，旋转方向可能不重要（不影响逆运动学求解），mask向量设置为[1 1 1 0 0 0]
%
% For robots with 4 or 5 DOF this method is very difficult to use since
% orientation is specified by T in world coordinates and the achievable
% orientations are a function of the tool position.
% 对于4或5个自由度的机器人，这种方法较难使用
%
% References::
% - Robotics, Vision & Control, P. Corke, Spri
免责声明：本文系网络转载或改编，未找到原创作者，版权归原作者所有。如涉及版权，请联系删