MATLAB中机械臂的运动问题

[z炎武]

clear ;
clc;
close all;


%机器人建模
%定义连杆的D-H参数
% theta d a alpha offset
ML1 = Link([0 0 0 0 0],'modified');
ML2 = Link([0 0 0.200 pi/2 0],'modified');
ML3 = Link([0 0 0.880 0 0],'modified');
ML4 = Link([0 0.800 0 pi/2 0],'modified');
ML5 = Link([0 0 0 -pi/2 0],'modified');
ML6 = Link([0 0 0 pi/2 0],'modified');
Robot = SerialLink([ML1 ML2 ML3 ML4 ML5 ML6],'name','BA006','modified');

path =[ 0,0,10;58.5340,89.3660,10; 64.7440,90.6080,10; 74.8600,87.2420,10; 80.3500,86.7200,10; 78.7480,96.8180,10; 88.8640,109.7780,10; 100.3600,112.6350,10; 108.0340,111.0200,10;
97.3780,96.9980,10;91.7080,85.6580,10;98.2780,87.9620,10; 109.7980,84.0560,10; 116.7280,84.4160,10; 116.8900,97.5380,10; 2 2 1;128.3740,111.9200,10; 137.4460,99.4640,10; 136.6720,93.7580,10;
129.6700,83.1200,10;137.1940,85.1900,10;149.9200,81.3020,10;158.2360,82.3460,10;175.8580,80.4380,10;192.9040,78.8000,10;221.4520,77.4860,10;220.4620,99.7880,10; 220.4620,99.7880,10;
205.3780,97.3320,10;186.0280,119.4620,10;177.8200,116.8340,10;164.7160,122.8100,10;156.4180,113.7380,10;152.2600,127.9940,10;172.9060,152.5640,10;173.5540,161.0960,10;165.3460,172.2380,10;
151.4860,152.6360,10;130.6960,153.6800,10;111.2200,153.1580,10;109.2760,135.4820,10;106.2520,130.5140,10;98.0980,134.4200,10;88.3420,129.1100,10;87.4420,133.8980,10;76.8040,132.1160,10;
69.4960,126.9860,10;63.3220,118.2920,10; 71.4760,109.0580,10;56.0500,108.1760,10;61.7200,96.6380,10;52.6840,96.6380,10;46.1140,95.5760,10;43.0900,90.6080,10;0,0,10]*[200 0 0; 0 200 0; 0 0 200];

p=path'
for i = 1:55
m = [1 0 0]'; % 运动矢量
a = [0 0 1]'; % 路径平面法矢量
VecN = m/norm(m);
VecA = a/norm(a);
VecO = cross(VecA, VecN);
Pos(:,:,i) = [VecN VecO VecA p(:,i)* 0.000025;
0 0 0 1];
end
x=size(Pos, 3);
QIkine=zeros(55,6);
i=1;
while(i<x+1)
TT0 = Pos(:,:,i);
QIkine(i,:) = Robot.ikine(TT0);
i=i+1;
end
Robot.plot(QIkine(1:end,:),'workspace',[-0.8 3.5 -0.8 0.8 -0.5 2.8])
带有下标的赋值维度不匹配咋么解决？