学术屎壳郎开始推粪球了
基于学校的大研机械臂-->因为只有示教盒,所以我写一个关于大研机械臂焊接的路径规划课题。
首先基于APF人工势场的算法,在待熔覆物体的质心处,输入目标点以及起始点,可以得到的路径为->
黑点为待熔覆物体的质心,所以红颜色的就是我们的路径点。现在处理Q的数据集
1 1 1
1.57735026918963 1.57735026918963 1.57735026918963
2.15470053837925 2.15470053837925 2.15470053837925
2.73205080756888 2.73205080756888 2.73205080756888
3.30940107675850 3.30940107675850 3.30940107675850
3.88675134594813 3.88675134594813 3.88675134594813
4.46410161513775 4.46410161513775 4.46410161513775
5.04145188432738 5.04145188432738 5.04145188432738
5.61880215351701 5.61880215351701 5.61880215351701
6.19615242270663 6.19615242270663 6.19615242270663
6.77350269189626 6.77350269189626 6.77350269189626
7.35085296108588 7.35085296108588 7.35085296108588
7.92820323027551 7.92820323027551 7.92820323027551
8.50555349946514 8.50555349946514 8.50555349946514
9.08290376865476 9.08290376865476 9.08290376865476
9.66025403784439 9.66025403784439 9.66025403784439
10.2376043070340 10.2376043070340 10.2376043070340
10.8149545762236 10.8149545762236 10.8149545762236
11.3923048454133 11.3923048454133 11.3923048454133
11.9696551146029 11.9696551146029 11.9696551146029
12.5470053837925 12.5470053837925 12.5470053837925
13.1243556529821 13.1243556529821 13.1243556529821
13.7017059221718 13.7017059221718 13.7017059221718
14.2790561913614 14.2790561913614 14.2790561913614
14.8564064605510 14.8564064605510 14.8564064605510
15.4337567297407 15.4337567297407 15.4337567297407
16.0111069989303 16.0111069989303 16.0111069989303
16.5884572681199 16.5884572681199 16.5884572681199
17.1658075373095 17.1658075373095 17.1658075373095
17.7431578064992 17.7431578064992 17.7431578064992
18.3205080756888 18.3205080756888 18.3205080756888
18.8978583448784 18.8978583448784 18.8978583448784
19.4752086140680 19.4752086140680 19.4752086140680
20.0525588832577 20.0525588832577 20.0525588832577
20.6299091524473 20.6299091524473 20.6299091524473
21.2072594216369 21.2072594216369 21.2072594216369
21.7846096908265 21.7846096908265 21.7846096908265
22.3619599600162 22.3619599600162 22.3619599600162
22.9393102292058 22.9393102292058 22.9393102292058
23.5166604983954 23.5166604983954 23.5166604983954
24.0940107675850 24.0940107675850 24.0940107675850
24.6742982319876 24.6654413559461 24.6742982319876
25.2645750557916 25.2160288081820 25.2645750557916
25.9697019527534 25.2908092759656 25.9697019527534
26.4173551047132 24.5167205787990 26.4173551047132
26.8740179728944 23.7532298783651 26.8740179728944
27.3486041506871 23.0119229785617 27.3486041506871
27.8619536440440 22.3242133048327 27.8619536440440
28.4684068435326 21.8099866683579 28.4684068435326
29.1704190677703 21.9298101804143 29.1704190677703
29.7299012447823 22.5413323690647 29.7299012447823
30.2372314629403 23.2379184007131 30.2372314629403
30.7445616810982 23.9345044323615 30.7445616810982
31.2518918992561 24.6310904640099 31.2518918992561
31.7592221174140 25.3276764956584 31.7592221174140
32.2665523355719 26.0242625273068 32.2665523355719
32.7738825537298 26.7208485589552 32.7738825537298
33.2812127718877 27.4174345906036 33.2812127718877
33.7885429900457 28.1140206222520 33.7885429900457
34.2958732082036 28.8106066539004 34.2958732082036
34.8032034263615 29.5071926855488 34.8032034263615
35.3105336445194 30.2037787171973 35.3105336445194
35.8178638626773 30.9003647488457 35.8178638626773
36.3251940808352 31.5969507804941 36.3251940808352
36.8325242989931 32.2935368121425 36.8325242989931
37.3398545171510 32.9901228437909 37.3398545171510
37.8471847353089 33.6867088754393 37.8471847353089
38.3545149534669 34.3832949070878 38.3545149534669
38.8618451716248 35.0798809387362 38.8618451716248
39.3691753897827 35.7764669703846 39.3691753897827
39.8765056079406 36.4730530020330 39.8765056079406
40.3838358260985 37.1696390336814 40.3838358260985
40.8911660442564 37.8662250653298 40.8911660442564
41.3984962624143 38.5628110969782 41.3984962624143
41.9058264805722 39.2593971286267 41.9058264805722
42.4131566987302 39.9559831602751 42.4131566987302
42.9204869168881 40.6525691919235 42.9204869168881
43.4278171350460 41.3491552235719 43.4278171350460
43.9351473532039 42.0457412552203 43.9351473532039
44.4424775713618 42.7423272868687 44.4424775713618
44.9498077895197 43.4389133185172 44.9498077895197
45.4571380076777 44.1354993501656 45.4571380076777
45.9644682258356 44.8320853818140 45.9644682258356
46.4717984439935 45.5286714134624 46.4717984439935
46.9791286621514 46.2252574451108 46.9791286621514
47.4864588803093 46.9218434767592 47.4864588803093
47.9937890984672 47.6184295084076 47.9937890984672
48.5011193166251 48.3150155400561 48.5011193166251
49 49 49
线性拟合 计算每个向量与第一个向量之间的距离
0
0
0
0
0
0
0
0
0
0
0
25.9757810695542
80.9868733040677
80.0372939882006
78.1072523726367
73.7134717112093
61.2101659744529
23.3824726107073
0
3.88934887392322
3.88934887392322
3.88934887392322
3.88934887392322
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392338
3.88934887392301
3.88934887392301
3.88934887392338
3.88934887392301
3.88934887392338
3.88934887392301
3.88934887392338
3.88934887392301
3.88934887392301
3.88934887392338
3.88934887392301
3.88934887392301
3.88934887392338
3.88934887392301
3.88934887392338
3.88934887392301
3.88934887392338
3.88934887392301
3.88934887392322
0
0
在第四十点的时候可以发现比阈值要大所以取第41点做线性拟合
其中第一个用到的scripts是APF.m
其中第二个脚本函数是 linearsegement
其中第三个脚本函数是linearfit
可以直接找到非线性段出来
其中的第二段我可以直接用圆的表面去取 实验先这样。
然后我们假设有点[1,1,1,2,3,4] [1,2,3,4,5,6]
用函数g_test 与last trajectory 作为结尾。