构建机器人模型程序代

def __init__(self, arm_length, joint_count=6):

self.arm_length = arm_length

self.joint_count = joint_count

self.joints = [0] joint_count

def update_joint(self, joint_index, angle):

if 0 <= joint_index < self.joint_count:

self.joints[joint_index] = angle

else:

raise ValueError("Joint index out of range")

import math

def forward_kinematics(joints, arm_lengths):

x = sum([l math.cos(angle) for l, angle in zip(arm_lengths, joints)])

y = sum([l math.sin(angle) for l, angle in zip(arm_lengths, joints)])

return x, y

def inverse_kinematics(target_position):

x, y = target_position

return [math.atan2(y, x)] 6 简化方案

import matplotlib.pyplot as plt

def visualize_robot(robot):

fig, ax = plt.subplots

绘制逻辑待实现

plt.show

from robot_model import ParallelRobot

from kinematics import forward_kinematics

from simulation import visualize_robot

robot = ParallelRobot(arm_length=[1.0]6)

robot.update_joint(0, 0.5)

print(forward_kinematics(robot.joints, robot.arm_length))

visualize_robot(robot)

numpy>=1.21.0

matplotlib>=3.5.0