problem with using function ikine6s()

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東南

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Nov 9, 2021, 4:01:40 PM11/9/21
to Robotics & Machine Vision Toolboxes
Hello everyone, I am doing my work with RTB and I have a problem when using it. I want to do the inverse kinematic with the function ikine6s(), and the code is:

clear all;
clc;
% theta   d   a   alpha   
SL1 = Link([0   615   250    -pi/2], 'standard'); 
SL2 = Link([0    0    870      0  ], 'standard');
SL3 = Link([0    0    170    -pi/2], 'standard');
SL4 = Link([0   1016   0      pi/2], 'standard');
SL5 = Link([0    0     0     -pi/2], 'standard');
SL6 = Link([0   216    0       0  ], 'standard');
robot = SerialLink([SL1 SL2 SL3 SL4 SL5 SL6], 'name', 'robot');
figure(1),teach(robot);
T = robot.fkine([pi/6 -pi/2 pi/4 pi/3 pi/6 pi/4])
q = robot.ikine6s(T);
q = rad2deg(q)

and the error information is:

This kinematic structure not supported

How can I solve this problem?屏幕截图 2021-11-09 143354.jpg
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