资源简介
三自由度并联机器人工作空间求解matlab程序,用球坐标分割的空间
代码片段和文件信息
%----------------------Configuration Check---------------------------------
%
% This program serves to check whether the micro cube of space is in the
% workspace based on the constraints condition of parameters i.e. theta1‘
% l1l2 and the angles between the symmetric axis of spheical and the li3.
%
%--------------------------------------------------------------------------
%% l1 theta6 theta2
%Inverse kinematic problem
theta11(1:) = (-60)*pi/180;
theta11(2:)=(60)*180/pi;
theta11(3:)=180*pi/180;
for i = 1:3
s(:i) = C+R*B(:i)-P0(:i);
L(i) = norm(s(:i)); %Pi5-Pi0 distance
theta4(i:)=pi-atan2(sqrt(s(1i)^2+s(2i)^2)/L(i) s(3i)/L(i));
theta5(i:)=pi-theta1-theta4(i:);
theta2(i:)=asin((L(i)*sin(theta5(i:))-l2(i:))/l3(i:))+pi/2;
属性 大小 日期 时间 名称
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文件 3088 2012-05-25 12:41 MyWSP\ConfigCheck.asv
文件 3104 2012-05-27 19:10 MyWSP\ConfigCheck.m
文件 159 2012-05-25 18:20 MyWSP\go.asv
文件 2037 2012-05-25 12:30 MyWSP\OWplot.m
文件 1538 2012-05-16 15:58 MyWSP\OWvol.m
文件 768 2012-05-16 15:58 MyWSP\Rot_mat2.m
文件 550 2012-05-22 09:12 MyWSP\solve_l1.asv
文件 132 2012-05-22 08:40 MyWSP\Tricos.m
文件 3541 2012-05-27 19:01 MyWSP\workspace_main.asv
文件 3542 2012-05-27 20:51 MyWSP\workspace_main.m
文件 116 2012-05-25 16:53 MyWSP\wspspline.asv
目录 0 2012-12-26 16:18 MyWSP
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