机器人关节图的绘制位置不起作用
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我想编写一个命令来显示机器人位置方程及其图形。这是我的命令，但未显示图形：
clear;
clc;
% initial position
theta1s=-150;
theta2s=-80;
theta3s=-50;
theta4s=-100;
theta5s=-180;
% final position
theta1f=20;
theta2f=100;
theta3f=80;
theta4f=50;
theta5f=180;
% time taken for movement
tf=input(\'time=\')
% acceleration for every link
acc1=(4.*(20-(-150)))./(tf^2)
acc2=(4.*(100-(-80)))./(tf^2)
acc3=(4.*(80-(-50)))./(tf^2)
acc4=(4.*(50-(-100)))./(tf^2)
acc5=(4.*(180-(-180)))./(tf^2)
% blending time for every link
tb1=((0.5.*(tf))-(0.5.*(sqrt((((tf^2).*acc1)-(4.*(20-(-150))))./acc1))))
t = 0;
for x = 0:tf;
t = t + 0.1;
if 0<t<=tb1;
y = theta1s+((0.5.*acc1).*(t^2));
elseif tb1<t<=tf-tb1;
y = (theta1s-((0.5.*acc1).*(tb1^2)))+(acc1.*tb1.*t);
else tf-tb1<t<=tf;
y = theta1s-((0.5.*acc1).*(tf.*t)^2);
end
plot(x,y,\'r\')
title(\'Position Versus Time\');
xlabel(\'time in s\');
ylabel(\'position in m\');
grid on;
drawnow;
end
disp(y);
没有找到相关结果
已邀请:
1 个回复
青董据零
clear; clc; % initial position theta1s=-150; theta2s=-80; theta3s=-50; theta4s=-100; theta5s=-180; % final position theta1f=20; theta2f=100; theta3f=80; theta4f=50; theta5f=180; % time taken for movement tf=input(\'time=\') % acceleration for every link acc1=(4.*(20-(-150)))./(tf^2) acc2=(4.*(100-(-80)))./(tf^2) acc3=(4.*(80-(-50)))./(tf^2) acc4=(4.*(50-(-100)))./(tf^2) acc5=(4.*(180-(-180)))./(tf^2) % blending time for every link tb1=((0.5.*(tf))-(0.5.*(sqrt((((tf^2).*acc1)-(4.*(20-(-150))))./acc1)))) t = 0; % allocate memory for array y = zeros(1, tf+1); for x = 0:tf; t = t + 0.1; if 0<t<=tb1; y(x+1) = theta1s+((0.5.*acc1).*(t^2)); elseif tb1<t<=tf-tb1; y(x+1) = (theta1s-((0.5.*acc1).*(tb1^2)))+(acc1.*tb1.*t); else tf-tb1<t<=tf; y(x+1) = theta1s-((0.5.*acc1).*(tf.*t)^2); end end plot(0:tf,y,\'r\') title(\'Position Versus Time\'); xlabel(\'time in s\'); ylabel(\'position in m\'); grid on; drawnow; disp(y);