机器人学绘制机械臂.pdf

Matlab 绘制三个自由度的机械臂代码clc;t=0:2*pi;x=cos(t);%圆的 X 坐标y=sin(t);%圆的 Y 坐标r=;%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=*exp(i*q);cd=abs(4-Z);ad=;ab=;bc=2;ac=sqrt(ab2+bc2-2*ab*bc*cos(w);jbac=acos(ab2+ac2-bc2)/(2*ab*ac);jd=acos(ad2+cd2-ab2-bc2+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;T=title(time=,num2str(q);%num2str是把数值转换成字符串，转换后可以使用fprintf 或 disp 函数进行输出k=1;while kpause;q=q+;if wpiw=w+1/15;else k=0;endZ=*exp(i*q);cd=abs(4-Z);ac=sqrt(ab2+bc2-2*ab*bc*cos(w);jbac=acos(ab2+ac2-bc2)/(2*ab*ac);jd=acos(ad2+cd2-ab2-bc2+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);set(h1,xdata,real(Z,A),ydata,imag(Z,A);set(h2,xdata,real(A,B),ydata,imag(A,B);set(h3,xdata,real(B,4),ydata,imag(B,4);zga=zga,Z;set(ga,xdata,real(zga),ydata,imag(zga);set(T,string,time=,num2str(q);end