本文主要参考清华大学出版社的《机器人仿真与编程技术》一书

一个具体的例子

a1=sym('a1')

l1=sym('l1')

a2=sym('a2')

l2=sym('l2')

a3=sym('a3')

l3=sym('l3')

T01=trotz(a1)*transl(l1,0,0)

T12=trotz(a2)*transl(l2,0,0)

T23=trotz(a3)*transl(l3,0,0)

T03=T01*T12*T23

L(1)=Link([0 0 1 0])

L(2)=Link([0 0 1 0])

L(3)=Link([0 0 1 0])

ThreeLink=SerialLink(L,'name','Planar3R')

TL=[-1 0 0 0;0 -1 0 1;0 0 1 0;0 0 0 1]

Q0=[0 -pi/2 pi/2]

QF=ThreeLink.ikine(TL,Q0,'mask',[1 1 0 0 0 1])

% ThreeLink.plot(QF)

TRAJ=jtraj(Q0,QF,(0:.05:1))

ThreeLink.plot(TRAJ)

显示的一个动态的运动过程

TRAJ =

         0   -1.5708    1.5708

    0.0018   -1.5708    1.5653

    0.0134   -1.5708    1.5305

    0.0418   -1.5708    1.4454

    0.0910   -1.5708    1.2979

    0.1626   -1.5708    1.0830

    0.2562   -1.5708    0.8023

    0.3694   -1.5708    0.4626

    0.4986   -1.5708    0.0749

    0.6391   -1.5708   -0.3465

    0.7854   -1.5708   -0.7854

    0.9317   -1.5708   -1.2242

    1.0722   -1.5708   -1.6457

    1.2014   -1.5708   -2.0334

    1.3146   -1.5708   -2.3731

    1.4082   -1.5708   -2.6538

    1.4798   -1.5708   -2.8687

    1.5290   -1.5708   -3.0162

    1.5574   -1.5708   -3.1013

    1.5690   -1.5708   -3.1361

    1.5708   -1.5708   -3.1416

刚开始的时候会报错：Number of robot DOF must be >= the same number of 1s in the mask matrix

参考了一个帖子https://www.ilovematlab.cn/thread-533863-1-1.html?s_tid=LandingPageTabqa加mask

QF=ThreeLink.ikine(TL,Q0,'mask',[1 1 0 0 0 1])

但是出来的结果效果和书上不一样，现在有待考究