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大小: 5.48KB文件類型: .rar金幣: 1下載: 0 次發(fā)布日期: 2021-02-20
- 語言: Java
- 標(biāo)簽:
資源簡介
自己做的3-PSS并聯(lián)機(jī)器人可達(dá)工作空間繪制的MATLAB程序,workspace_main.m為主程序,在MATLAB中進(jìn)入解壓縮后的文件夾并運行workspace_main即可完成繪圖。另外Trirspace.m為3-RRR平面并聯(lián)機(jī)器人可達(dá)工作空間的繪圖程序,調(diào)用方法相同。
代碼片段和文件信息
k=size(CIRset2);%k為圓數(shù)量
s_temp=0;%同一z坐標(biāo)下的圓弧數(shù)量
for?i=1:k
????%求圓i與其他圓的交點
????s=0;
????Pset_temp=[];
????for?j=1:i-1
????????Pset0=cirints(CIRset(1:2i)CIRset(3i)CIRset(1:2j)CIRset(3j));
????????if(~(isnan(Pset0)))
????????????l=size(Pset02);
????????????Pset_temp(:s+1:s+l)=Pset0;
????????????s=s+l;????????????
????????end
????end
????for?j=i+1:k
????????Pset0=cirints(CIRset(1:2i)CIRset(3i)CIRset(1:2j)CIRset(3j));
????????if(~(isnan(Pset0)))
????????????l=size(Pset02);
????????????Pset_temp(:s+1:s+l)=Pset0;
????????????s=s+l;????????????
????????end
????end
????%求出圓i與其他圓的交點,交點集合為Pset_temp交點個數(shù)為s
????%根據(jù)交點離散圓i
????if(isempty(Pset_temp))
????????ARCset_temp=[CIRset(1:3i);-pi;pi];
????????s=1;
????else
????????angs=atan2(Pset_temp(2:)-CIRset(2i)*ones(1s)Pset_temp(1:)-CIRset(1i)*ones(1s));
????????angs=sort(angs);
????????ARCset_temp=[CIRset(1i)*ones(1s);CIRset(2i)*ones(1s);CIRset(3i)*ones(1s);angs;angs(2:s)angs(1)+2*pi];
????end
?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????2404??2009-04-02?16:23??workspace\arcsets.m
?????文件????????224??2009-03-26?15:59??workspace\cirints.m
?????文件????????256??2009-03-26?15:59??workspace\cirintsuv.m
?????文件????????601??2009-04-01?19:29??workspace\cirsets.m
?????文件????????400??2009-03-26?17:02??workspace\transuv.m
?????文件????????339??2009-03-26?17:02??workspace\transxy.m
?????文件????????627??2009-10-23?16:56??workspace\Trircir.m
?????文件???????1135??2009-10-23?16:44??workspace\Trirspace.asv
?????文件???????1200??2009-10-23?17:06??workspace\Trirspace.m
?????文件???????3920??2009-04-02?17:21??workspace\workspace_main.m
?????文件????????478??2009-10-23?17:04??workspace\yanzhen.asv
?????文件????????596??2009-10-23?17:05??workspace\yanzhen.m
?????目錄??????????0??2009-10-23?17:04??workspace
-----------?---------??----------?-----??----
????????????????12180????????????????????13
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