matlab 机器人工具箱自带函数应用示例

    % matlab2016b，RTB 9.9
    % clear;clc;close all;
    
    L1=Link('d',0.144,    'a',0,       'alpha',0,      'offset',0,       'modified');  % MBD
    L2=Link('d',0,        'a',0,       'alpha',pi/2,   'offset',-pi/2,   'modified');  
    L3=Link('d',0,        'a',-0.264,  'alpha',0,                        'modified'); 
    L4=Link('d',0.106,    'a',-0.236,  'alpha',0,      'offset',-pi/2,   'modified');  
    L5=Link('d',0.114,    'a',0,       'alpha',pi/2,                     'modified'); 
    L6=Link('d',0.067,    'a',0,       'alpha',-pi/2,                    'modified');