matlab绘制机器人,机器人学matlab绘制机械臂

Matlab绘制三个自由度的机械臂代码

clc;

t=0:0.1:2*pi;

x = cos(t); %圆的X坐标

y = sin(t); %圆的Y坐标

r = 0.05; %圆半径

set(gcf,'doublebuffer','on'); %gcf返回当前Figure对象的句柄值；打开双缓冲

hold on; %这样就可以在一个图上画多条线

fill(r*x,r*y,'c'); %画中心点

axis([-2,5,-2,5]);

q=0;w=pi/3;Z=1.0*exp(i*q);

cd=abs(4-Z);ad=1.5;ab=1.5;bc=2;

ac=sqrt(ab^2+bc^2-2*ab*bc*cos(w));

jbac=acos((ab^2+ac^2-bc^2)/(2*ab*ac));

jd=acos((ad^2+cd^2-ab^2-bc^2+2*ab*bc*cos(w))/(2*ad*cd));

A=Z+ad*exp((jd+angle(4-Z))*i);

B=A+ab*exp((jbac+angle(4-A))*i);

h1 = plot(real([Z,A]),imag([Z,A]),'y','linewidth',3,'linestyle','--');%real是实部，imag 是虚部画出黄色的连杆

h2 = plot(real([A,B]),imag([A,B]),'b','linewidth',3,'linestyle',':'); %画出蓝色的连杆h3 = plot(real([B,4]),imag([B,4]),'c','linewidth',3,'linestyle',':');

grid on;

ga = plot(real([Z,Z]),imag([Z,Z]));

set(ga,'color','r');

zga = Z;