UR5正向动力学控制

-- This is a threaded script, and is just an example!

jointHandles={-1,-1,-1,-1,-1,-1}
for i=1,6,1 do
    jointHandles[i]=simGetObjectHandle('UR5_joint'..i)
end

-- Set-up some of the RML vectors:
vel=180
accel=40
jerk=80
currentVel={0,0,0,0,0,0,0}
currentAccel={0,0,0,0,0,0,0}
maxVel={vel*math.pi/180,vel*math.pi/180,vel*math.pi/180,vel*math.pi/180,vel*math.pi/180,vel*math.pi/180}
maxAccel={accel*math.pi/180,accel*math.pi/180,accel*math.pi/180,accel*math.pi/180,accel*math.pi/180,accel*math.pi/180}
maxJerk={jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180,jerk*math.pi/180}
targetVel={0,0,0,0,0,0}

targetPos3={180*math.pi/180,0*math.pi/180,0*math.pi/180,0*math.pi/180,0*math.pi/180,0*math.pi/180}
simRMLMoveToJointPositions(jointHandles,-1,currentVel,currentAccel,maxVel,maxAccel,maxJerk,targetPos3,targetVel)

标签：jerk,动力学,accel,UR5,180,正向,pi,vel,math
来源： https://blog.csdn.net/kissgoodbye2012/article/details/112414659