MATLAB机器人工具箱RVC报错：Number of robot DOF must be ＞= the same number of 1s in the mask matrix_number of robot dof must be >= the number of 1s in

错误使用 SerialLink/ikine
Number of robot DOF must be >= the same number of 1s in the mask matrix
由于ikine原设定不能直接求解6自由度以下的机器人。
查robotics toolbox帮助文档，发现SerialLink.ikine的options里有一项’mask’ ,M mask vector (6 × 1) that correspond to translation in X, Y and Z, and rotation about X, Y and Z respectively。mask矩阵表针自由度的数量，若自由度为5，则构造一个[1 1 1 1 1 0]
若没有XYZ三个方向的rotation自由度，应构造一个mask矩阵[1 1 1 0 0 0]。