具体代码:
clear;
clc;
syms theta2;syms theta3;syms theta4;syms theta5;
syms l1;syms l2;syms l3;
SDH=[ 0 0 0 -pi/2;
theta2 0 0 pi/2;
theta3 0 l1 0 ;
theta4 0 l2 0 ;
theta5 0 l3 0 ];
具体代码:
clear;
clc;
syms theta2;syms theta3;syms theta4;syms theta5;
syms l1;syms l2;syms l3;
SDH=[ 0 0 0 -pi/2;
theta2 0 0 pi/2;
theta3 0 l1 0 ;
theta4 0 l2 0 ;
theta5 0 l3 0 ];