function?c?=?geo（ab）
%GEO（AB）?Geometric?Operator
%
%????????1?-?frame?=?geo（H）
%????????2?-?H?=?geo（frame）
%????????3?-?H?=?geo（A?B）
%
%frame?=?[X?Y?Z?A?B?C];?H?=?Homogeneous?Transformation;?A?=?frame?or?H
%???????????????????????????????????????????????????????B?=?frame?or?H

%July?~?December?2005?by?Reinaldo?M.?do?Nascimento

n=length（a）;
if?n==6a=H（a）;end
if?nargin==2;
?????????if?length（b）==6b=H（b）;end
????????????ab=a*b;
????????????c=ab;
else
????????????c=a;
?????????if?length（a）==4?&?n==4k=0;
?????????????????????if?isa（a‘sym‘）
?????????????????????????trya1=double（a（1:31:3））;catchk=1;end
?????????????????????????if?k==1c=vts（a）;elsec=vt（[a1?[0;0;0];0?0?0?1]）+vts（[eye（3）?a（1:34）;0?0?0?1]）;end
?????????????????????else
?????????????????????????c=vt（a）;
?????????????????????end
?????????end
end

%==========================================================================
function?c?=?vt?（H）

d（1）=H（14）;d（2）=H（24）;d（3）=H（34）;
if?（H（11）==0）?&?（H（21）==0）
??????????d（4）=0;
??????????if?H（31）==-1
???????????????????d（5）=pi/2;d（6）=atan2（H（12）H（22））;
??????????else
???????????????????d（5）=-pi/2;d（6）=-atan2（H（12）H（22））;
??????????end
else
??????????d（4）=atan2（H（21）H（11））;
??????????d（5）=atan2（-H（31）H（11）*cos（d（4））+H（21）*sin（d（4）））;
??????????d（6）=atan2（H（32）H（33））;
end
c=d;

%==========================================================================
function?c?=?vts?（H）

d（1）=H（14）;d（2）=H（24）;d（3）=H（34）;
d（4）=atan（H（21）H（11））;
d（5）=atan（-H（31）H（11）*cos（d（4））+H（21）*sin（d（4）））;
d（6）=atan（H（32）H（33））;
c=d;

%==========================================================================
function?c?=?H?（a）

A=[cos（a（4））-sin（a（4））0;sin（a（4））cos（a（4））0;001];
B=[cos（a（5））0sin（a（5））;010;-sin（a（5））0cos（a（5））];
C=[100;0cos（a（6））-sin（a（6））;0sin（a（6））cos（a（6））];
XYZ=[a（1）;a（2）;a（3）];
c=[A*B*CXYZ;0?0?0?1];

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----

?????文件??????75054??2005-08-03?22:26??Robotic?Manipulator?Kinematics\scm\bmp\fig_cloos.bmp

?????文件?????108054??2005-08-02?14:02??Robotic?Manipulator?Kinematics\scm\bmp\fig_kr100p.bmp

?????文件?????108054??2005-08-02?11:15??Robotic?Manipulator?Kinematics\scm\bmp\fig_kr125.bmp

?????文件?????108054??2005-08-02?14:54??Robotic?Manipulator?Kinematics\scm\bmp\fig_kr2150.bmp

?????文件?????102574??2005-08-02?11:23??Robotic?Manipulator?Kinematics\scm\bmp\fig_onelink.bmp

?????文件?????176454??2005-08-07?20:11??Robotic?Manipulator?Kinematics\scm\bmp\fig_puma560.bmp

?????文件?????153654??2005-12-15?18:01??Robotic?Manipulator?Kinematics\scm\bmp\fig_puma560x.bmp

?????文件??????88534??2005-08-03?18:16??Robotic?Manipulator?Kinematics\scm\bmp\fig_puma600.bmp

?????文件?????139574??2005-11-03?18:54??Robotic?Manipulator?Kinematics\scm\bmp\fig_scara.bmp

?????文件??????79254??2005-08-08?19:39??Robotic?Manipulator?Kinematics\scm\bmp\fig_scorbot.bmp

?????文件?????102654??2005-08-02?22:12??Robotic?Manipulator?Kinematics\scm\bmp\fig_stanford.bmp

?????文件?????121214??2005-08-02?11:35??Robotic?Manipulator?Kinematics\scm\bmp\fig_twolink.bmp

?????文件?????107414??2005-08-02?12:13??Robotic?Manipulator?Kinematics\scm\bmp\fig_uw.bmp

????..A.SH.?????36352??2005-08-12?21:59??Robotic?Manipulator?Kinematics\scm\bmp\Thumbs.db

????..AD...?????????0??2007-09-28?19:18??Robotic?Manipulator?Kinematics\scm\bmp

?????文件???????3610??2006-02-25?22:30??Robotic?Manipulator?Kinematics\scm\dhconv.M

?????文件?????328274??2006-02-21?12:53??Robotic?Manipulator?Kinematics\scm\Doc\Scm_Tut_E.pdf

?????文件?????328917??2006-02-21?10:07??Robotic?Manipulator?Kinematics\scm\Doc\Scm_Tut_P.pdf

????..AD...?????????0??2007-09-28?19:18??Robotic?Manipulator?Kinematics\scm\Doc

?????文件???????1952??2006-02-25?22:29??Robotic?Manipulator?Kinematics\scm\geo.m

?????文件????????897??2006-02-25?22:29??Robotic?Manipulator?Kinematics\scm\h2j.m

?????文件????????394??2006-02-25?22:29??Robotic?Manipulator?Kinematics\scm\hrx.m

?????文件????????401??2006-02-25?22:28??Robotic?Manipulator?Kinematics\scm\hry.m

?????文件????????401??2006-02-25?22:28??Robotic?Manipulator?Kinematics\scm\hrz.m

?????文件????????180??2006-02-25?22:28??Robotic?Manipulator?Kinematics\scm\htx.m

?????文件????????180??2006-02-25?22:28??Robotic?Manipulator?Kinematics\scm\hty.m

?????文件????????180??2006-02-25?22:28??Robotic?Manipulator?Kinematics\scm\htz.m

?????文件????????553??2006-02-25?22:27??Robotic?Manipulator?Kinematics\scm\ik2q.m

?????文件???????2585??2006-02-21?20:18??Robotic?Manipulator?Kinematics\scm\Models\scm_cloos.m

?????文件???????2269??2006-02-25?19:25??Robotic?Manipulator?Kinematics\scm\Models\scm_kr100p.m

............此處省略29個文件信息