Robotic toolbox中的ikine运行错误。

12tian · 发表于 2022-9-14 12:46:17

mdl_puma560;t=0:0.05:10; T1=transl(0.6,0.6,0.2); T2=transl(-0.6,0.6,0.2); T=ctraj(T1,T2,length(t));r =transl(T);q=ikine(p560,T); 运行这个程序之后会显示
Warning: ikine: iteration limit 10000 exceeded (row 1), final err 0.000002 > In SerialLink.ikine at 148 Index exceeds matrix dimensions.
Error in SerialLink/jacobn (line 58) U = L(j).A(q(j)) * U;
Error in SerialLink/jacob0 (line 55)Jn = jacobn(robot, q);% Jacobian from joint to wrist space
Error in SerialLink/ikine (line 184) J = jacob0(robot, q);
这是matlab2011b和robotic9.3的，各位知不知道这是什么原因呀，函数的格式应该不会有错的呀！