DOBOT MG400の可動域 - Qiita

import matplotlib.pyplot as plt from mpl_toolkits.mplot3d import Axes3D import math L1 = 284 - (175 + 66) L2 = 175 L3 = 175 L4 = 66 def ki(j1,j2,j3): if(check_joint_limit(j1,j2,j3) == False): raise Exception('out of range') j1_rad = math.pi * j1 / 180 j2_rad = math.pi * j2 / 180 j3_rad = math.pi * j3 / 180 l =L1 + L2 * math.sin(j2_rad) + L3 * math.cos(j3_rad) + L4 z = L2 * math.cos(j2_rad) - L3 *