matlab运动学逆解代码-adv_robotics_homework:正向运动学、逆向运动学、Newton-Euler算法和推...

# adv_robotics_homework Advanced robotics homework solutions in matlab (2014). ## Solutions include * Forward kinematics, inverse kinematics, forward dynamics (with the Newton-Euler algorithm). Naming conventions follow Siciliano's book (http://www.springer.com/us/book/9783540382195). ## Dependencies: * Peter Corke's Robotics Toolbox To run the solutions setup Peter Corke's Robotics Toolbox following the instructions in http://petercorke.com/wordpress/toolboxes/robotics-toolbox/. ## Running the code Initial testing examples are provided, with full details provided in the report. For testing inverse kinematics one can run: ### Testing forward kinematics demo Tests forward kinematics comparing with builtin forward kinematics implemented in the Robotics Toolbox ``` test_fk ``` ### Testing inverse kinematics demo Tests ik by finding corresponding joint angles to take the robot to a given end-effector position and orientation. (call without args will use default parameters) ``` test_ik ```  ### Testing forward dynamics with the Newton-Euler algorithm 1. Simulate a pendulum ``` simulate_pendulum ```  1. Simulate a 3-link arm under the effect of gravity ``` fdyn_ne(3) ```  1. Simulate a N-link arm under the effect of gravity ``` fdyn_ne(N) ```