function?[xy]?=?GenerateScenario
global?Q;

Q1?=Q（1:21:2）;?
r1?=?0.8;?r2?=?0.2;
???????noise?=?Q1?*?randn（21000）;
???????theta（1）?=?0;?theta2（1）?=?0;?t=1;?count?=?1;
???????for?j?=?0.3:.1:1.2
???????????for?k?=?pi/2:.05:1.5*pi
???????????????theta1（t）?=?j?+?noise（1t）;
???????????????if??（-1）^count?==?-1;
???????????????????theta2（t）?=?k?+?noise（2t）;??
???????????????else?
???????????????????theta2（t）?=?2*pi?-?k?+?noise（2t）;
???????????????end????
???????????????xx（t）?=?r1*cos（theta1（t））?-?r2*cos（theta1（t）+theta2（t））;
???????????????yy（t）?=?r1*sin（theta1（t））?-?r2*sin（theta1（t）+theta2（t））;????
???????????????t?=?t?+?1;
???????????end
???????????count?=?count?+?1;
???????end???
???????x?=?[theta1;theta2];??%?2-by-630
???????y?=?[xx;?yy];???%?2-by-630

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件??????141109??2010-02-14?18:54??RobotArm\Article_robotArm.pdf
?????文件?????????785??2004-07-12?11:15??RobotArm\GenerateScenario.m
?????文件????????3030??2010-02-14?19:06??RobotArm\Main.m
?????文件?????????118??2009-04-12?19:30??RobotArm\MstEq.m
?????文件?????????128??2009-04-12?19:04??RobotArm\Predict.m
?????文件?????????970??2010-02-14?19:09??RobotArm\Update.m
?????文件????????1290??2010-02-14?19:11??RobotArm\Update2.m