机器人学导论-第三章MATLAB练习答案

加油喽

于 2023-07-24 15:11:00 发布

阅读量1k

点赞数 3

分类专栏： MATLAB Robotics Toolbox 机器人学导论文章标签： matlab 开发语言机器人

本文链接：https://blog.csdn.net/weixin_48457982/article/details/131856836

版权

机器人学导论同时被 2 个专栏收录

12 篇文章 2 订阅

订阅专栏

MATLAB Robotics Toolbox

6 篇文章 4 订阅

订阅专栏

在这里插入图片描述
Alt Alt

clear;clc;
syms theta1 theta2 theta3 l1 l2 l3%符号函数，真的好用
L(1) = Link([theta1 0 0 0],'modified');
L(2) = Link([theta2 0 l1 0],'modified');
L(3) = Link([theta3 0 l2 0],'modified');
Three_Link = SerialLink(L,'name','threelink');
Three_Link.display;

程序运行结果：
在这里插入图片描述

在这里插入图片描述

clc;clear;
syms theta1 theta2 theta3 theta4 l1 l2 l3
%齐次变换矩阵
syms alphai_1 ai_1 di thetai
i_1iT=[cos(thetai) -sin(thetai) 0 ai_1
    sin(thetai)*cos(alphai_1) cos(thetai)*cos(alphai_1) -sin(alphai_1) -sin(alphai_1)*di
    sin(thetai)*sin(alphai_1) cos(thetai)*sin(alphai_1) cos(alphai_1) cos(alphai_1)*di
    0 0 0 1];
%R = subs(S, old, new) 利用new的值代替符号表达式中old的值
T01=subs(i_1iT,[alphai_1 ai_1 di thetai],[0 0 0 theta1])
T12=subs(i_1iT,[alphai_1 ai_1 di thetai],[0 l1 0 theta2])
T23=subs(i_1iT,[alphai_1 ai_1 di thetai],[0 l2 0 theta3])
T3H=subs(i_1iT,[alphai_1 ai_1 di thetai],[0 l3 0 0])

输出结果：
在这里插入图片描述

利用工具箱函数测试：

syms theta1 theta2 theta3 theta4 l1 l2 l3
L(1) = Link([theta1 0  0  0 0],'modified');
L(2) = Link([theta2 0  l1 0 0],'modified');
L(3) = Link([theta3 0  l2 0 0],'modified');
L(4) = Link([0 0  l3 0 1],'modified');%本文假定夹爪连接为移动关节，动关节也可；
T01 = L(1).A(theta1)%A(jlist,q)输入关节的编号jlist和对应的角度q，输入变换矩阵
T12 = L(2).A(theta2);
T23 = L(3).A(theta3);
T3H = L(4).A(theta4);

在这里插入图片描述

clc;clear;
syms theta1 theta2 theta3 theta4 l1 l2 l3
%齐次变换矩阵
syms alphai_1 ai_1 di thetai
i_1iT=[cos(thetai) -sin(thetai) 0 ai_1
    sin(thetai)*cos(alphai_1) cos(thetai)*cos(alphai_1) -sin(alphai_1) -sin(alphai_1)*di
    sin(thetai)*sin(alphai_1) cos(thetai)*sin(alphai_1) cos(alphai_1) cos(alphai_1)*di
    0 0 0 1];
%R = subs(S, old, new) 利用new的值代替符号表达式中old的值
T01=subs(i_1iT,[alphai_1 ai_1 di thetai],[0 0 0 theta1]);
T12=subs(i_1iT,[alphai_1 ai_1 di thetai],[0 l1 0 theta2]);
T23=subs(i_1iT,[alphai_1 ai_1 di thetai],[0 l2 0 theta3]);
T3H=subs(i_1iT,[alphai_1 ai_1 di thetai],[0 l3 0 0]);
T03=T01*T12*T23
T0H=T01*T12*T23*T3H
T03i=subs(T03,[theta1 theta2 theta3],[0 0 0])
T0Hi=subs(T0H,[theta1 theta2 theta3],[0 0 0])
T03ii=subs(T03,[theta1 theta2 theta3],[10 20 30])
T0Hii=subs(T0H,[theta1 theta2 theta3],[10 20 30])
T03iii=subs(T03,[theta1 theta2 theta3],[10 20 30])
T0Hiii=subs(T0H,[theta1 theta2 theta3],[10 20 30])

结果太长，自己运行查看吧

利用工具箱函数测试：

syms theta1 theta2 theta3 L1 L2 L3
L(1) = Link([theta1 0  0 0 0],'modified');
L(2) = Link([theta2 0  4 0 0],'modified');
L(3) = Link([theta3 0  3 0 0],'modified');
L(4) = Link([0      0  2 0 1],'modified');
Three_Link = SerialLink(L,'name','threelink');
%用户输入均为角度
theta1 = input ('Please enter theta1 = ');
theta2 = input ('Please enter theta2 = ');
theta3 = input ('Please enter theta3 = ');
%只要有一个输入为空，就结束程序
empty = isempty(theta1)+isempty(theta2)+isempty(theta3);
if empty>0
    fprintf('Error!');
else     
    digits(4);%设置只保留小数点后4位
    T = Three_Link.fkine([theta1,theta2,theta3,0]);%此时为分数
    A = vpa(T)%变换为小数输出
end

测试结果：
在这里插入图片描述