Robotic toolbox中的ikine運(yùn)行錯(cuò)誤。

12tian

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); 運(yùn)行這個(gè)程序之后會(huì)顯示
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);
這是matlab2011b和robotic9.3的，各位知不知道這是什么原因呀，函數(shù)的格式應(yīng)該不會(huì)有錯(cuò)的呀！

zeng119

請(qǐng)問(wèn)樓主問(wèn)題解決了嗎，我也出現(xiàn)了迭代大于1000的問(wèn)題，如果已解決希望能指導(dǎo)一下

12tian

軌跡的路徑超出機(jī)器人的工作空間啦