MATLAB
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Robot workspace(机器人工作空间求解)
Robot workspace图片% Main programclear;clc;%建立机器人模型% theta d a alpha offsetML1=Link([0.0 0.0 0.0 0.0 0.0 ],'modified'); ML2=Link([0 ...原创 2019-04-26 11:00:33 · 5642 阅读 · 15 评论 -
Basic foundation of robot simulation (Based on MATLAB)
一:基本变换平移: T=transl(0.5,0,0)%分别沿着xyz轴的平移T=transl(0.5,0,0) %x方向平移0.5个单位长度T =1.0000 0 0 0.5000 0 1.0000 0 0 0 0 1.0000 ...转载 2019-04-26 15:02:34 · 231 阅读 · 0 评论 -
Robotics Toolbox(0)
The main work ability3D transforms angvec2r - angle/vector to SO3 angvec2tr - angle/vector to SE3 eul2r - Euler a...原创 2019-04-26 15:32:58 · 329 阅读 · 0 评论 -
Robotics Toolbox(1)
The main work ability*** Homogeneous points and lines*** e2h - Euclidean coordinates to homogeneous h2e - homogeneous coordinates to ...原创 2019-04-26 15:38:51 · 643 阅读 · 0 评论 -
Robotics Toolbox(2)
*** Kinematic*** DHFactor - transform sequence to DH description jsingu - find dependent joints fellipse - plot f...原创 2019-04-26 15:51:04 · 306 阅读 · 0 评论 -
Robotics Toolbox(3)
*** Dynamics*** accel - forward dynamics cinertia - Cartesian manipulator inertia matrix coriolis - centripetal/c...原创 2019-04-26 15:52:11 · 683 阅读 · 0 评论 -
Robotics Toolbox(4)
*** Mobile robot*** Map - point feature map object RandomPath - driver for Vehicle object RangeBearingSensor - "laser scann...原创 2019-04-26 15:54:05 · 251 阅读 · 0 评论 -
Robotics Toolbox(5)
Graphics Animate - record a graphical animation sequence plot2 - plot trajectory plotp - plot points plo...原创 2019-04-26 15:58:57 · 485 阅读 · 0 评论 -
齿轮系统动力学方程推导
动力学方程推导%% Function 动力学方程推导 练习clc;clear;%% %%%%%%%%%%%%%%%%%%%%%%参数定义及赋值%%%%%%%%%%%%%%%%%%%%%%%%%%%%syms Mp Mq Ip Iq rp rq syms thita_p thita_q dthita_p dthita_q deta ddeta de e t Tp Tq km cm%...原创 2019-05-07 12:24:39 · 3222 阅读 · 3 评论