鱼香肉丝盖饭的博客

文章目录给定位置：遍历方式求轨迹：直接使用插值函数求轨迹：位姿插值：`trinterp()``trinterp(T0, T1, M)`线性插值轨迹动画：(轨迹如上图左所示)五次多项式插值轨迹动画：（轨迹如上图右所示，和上面用mtraj遍历方式的轨迹相同）笛卡尔轨迹`ctraj()`:`TC = ctraj(T0, T1, N)`给定位置：#mermaid-svg-p5AodbOVJ7LnABK8 {font-family:"trebuchet ms",verdana,arial,sans-serif;f

文章目录五次多项式轨迹：`tpoly()``[S,SD,SDD] = tpoly(S0, SF, T, QD0, QD1)`混合曲线轨迹：`lspb()``[S,SD,SDD] = lspb(S0, SF, T, V)`多维轨迹：`mtraj()``[Q,QD,QDD] = mtraj(TFUNC, Q0, QF, T)`多段多维轨迹：`mstraj()``TRAJ=mstraj(WP,QDMAX,TSEG,QO,DT,TACC,OPTIONS)`轨迹：时间、位置、速度、加速度给定时间0-2s，位置0

文章目录**rand函数**：`X = rand returns a single uniformly distributed random number in the interval(0,1)`设定关节限制：可视化流程代码(以ur3为例)：result：#mermaid-svg-bXHT07vfZYl7f2kz {font-family:"trebuchet ms",verdana,arial,sans-serif;font-size:16px;fill:#333;}#mermaid-svg-bXHT

文章目录欧拉角：绕当前坐标系旋转，右乘横滚-俯仰-航偏角：绕固定坐标系旋转，左乘#mermaid-svg-uqwmATrgQUr2eSuo {font-family:"trebuchet ms",verdana,arial,sans-serif;font-size:16px;fill:#333;}#mermaid-svg-uqwmATrgQUr2eSuo .error-icon{fill:#552222;}#mermaid-svg-uqwmATrgQUr2eSuo .error-text{fill:#5