6自由度机器人视觉伺服控制MATLAB

clear ;

clc;

L1=link（[0       0.4      0.025    pi/2      0     ]）; 

L2=link（[pi/2    0        0.56     0         0     ]）;

L3=link（[0       0        0.035    pi/2      0     ]）;

L4=link（[0       0.515    0        pi/2      0     ]）;

L5=link（[pi      0        0        pi/2      0     ]）;

L6=link（[0       0.08     0        0         0     ]）;

t3r=[L1;L2;L3;L4;L5;L6];

bot=Seriallink（t3r‘name‘‘Useless‘）;

a = imaqhwinfo;

%[camera_name camera_id format] = getCameraInfo（a）;

 f1=figure;

% set （gcf‘Position‘[200200400500] ‘color‘‘w‘）;

 f2=figure;

% Capture the video frames using the videoinput function

% You have to replace the resolution & your installed adaptor name.

vid = videoinput（‘winvideo‘1‘YUY2_640x480‘）;

%sls=videoinput（‘w