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    發布日期: 2023-11-18
  • 語言: Matlab
  • 標簽: 8.0老版??matlab??

資源簡介

千辛萬苦找到的matlab機器人工具箱8.0版本,可以完美運行舊論文上的機器人連桿建模程序。可以節約軌跡規劃時的大量時間。

資源截圖

代碼片段和文件信息

%ACCEL?Compute?manipulator?forward?dynamics
%
% QDD?=?ACCEL(ROBOT?Q?QD?TORQUE)
% QDD?=?ACCEL(ROBOT?[Q?QD?TORQUE])
%
%?Returns?a?vector?of?joint?accelerations?that?result?from?applying?the?
%?actuator?TORQUE?to?the?manipulator?ROBOT?in?state?Q?and?QD.
%
%?Uses?the?method?1?of?Walker?and?Orin?to?compute?the?forward?dynamics.
%?This?form?is?useful?for?simulation?of?manipulator?dynamics?in
%?conjunction?with?a?numerical?integration?function.
%
%?See?also:?RNE?ROBOT?ODE45.

%?MOD?HISTORY
%?4/99?add?object?support
%?1/02?copy?rne?code?from?inertia.m?to?here?for?speed
%?$Log:?not?supported?by?cvs2svn?$
%?$Revision:?1.3?$

%?Copyright?(C)?1999-2008?by?Peter?I.?Corke
%
%?This?file?is?part?of?The?Robotics?Toolbox?for?Matlab?(RTB).
%?
%?RTB?is?free?software:?you?can?redistribute?it?and/or?modify
%?it?under?the?terms?of?the?GNU?Lesser?General?Public?License?as?published?by
%?the?Free?Software?Foundation?either?version?3?of?the?License?or
%?(at?your?option)?any?later?version.
%?
%?RTB?is?distributed?in?the?hope?that?it?will?be?useful
%?but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
%?MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the
%?GNU?Lesser?General?Public?License?for?more?details.
%?
%?You?should?have?received?a?copy?of?the?GNU?Leser?General?Public?License
%?along?with?RTB.??If?not?see?.


function?qdd?=?accel(robot?Q?qd?torque)
n?=?robot.n;

if?nargin?==?2
????????q?=?Q(1:n);
qd?=?Q(n+1:2*n);
torque?=?Q(2*n+1:3*n);
else
q?=?Q;
if?length(q)?==?robot.n
q?=?q(:);
qd?=?qd(:);
end
end

%?compute?current?manipulator?inertia
%???torques?resulting?from?unit?acceleration?of?each?joint?with
%???no?gravity.
M?=?rne(robot?ones(n1)*q‘?zeros(nn)?eye(n)?[0;0;0]);

%?compute?gravity?and?coriolis?torque
%????torques?resulting?from?zero?acceleration?at?given?velocity?&
%????with?gravity?acting.
tau?=?rne(robot?q‘?qd‘?zeros(1n));

qdd?=?inv(M)?*?(torque(:)?-?tau‘);


?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????1004??2009-02-15?16:07??robot\@link\char.m

?????文件???????1851??2009-02-15?16:07??robot\@link\display.m

?????文件???????1137??2009-02-15?16:07??robot\@link\friction.m

?????文件???????4448??2009-02-15?16:07??robot\@link\link.m

?????文件???????1093??2009-02-15?16:07??robot\@link\nofriction.m

?????文件???????1335??2009-02-15?16:07??robot\@link\showlink.m

?????文件???????2399??2009-02-15?16:07??robot\@link\subsasgn.m

?????文件???????5210??2009-02-15?16:07??robot\@link\subsref.m

?????文件????????912??2009-02-15?16:07??robot\@quaternion\char.m

?????文件????????901??2009-02-15?16:07??robot\@quaternion\display.m

?????文件????????841??2009-02-15?16:07??robot\@quaternion\double.m

?????文件????????892??2009-02-15?16:07??robot\@quaternion\inv.m

?????文件????????982??2009-02-15?16:07??robot\@quaternion\minus.m

?????文件???????1168??2009-02-15?16:07??robot\@quaternion\mpower.m

?????文件???????1147??2009-02-15?16:07??robot\@quaternion\mrdivide.m

?????文件???????2199??2009-02-15?16:07??robot\@quaternion\mtimes.m

?????文件????????910??2009-02-15?16:07??robot\@quaternion\norm.m

?????文件???????1913??2009-02-15?16:07??robot\@quaternion\plot.m

?????文件????????973??2009-02-15?16:07??robot\@quaternion\plus.m

?????文件???????1713??2009-02-15?16:07??robot\@quaternion\qinterp.m

?????文件???????4150??2009-02-15?16:07??robot\@quaternion\quaternion.m

?????文件???????1923??2009-02-15?16:07??robot\@quaternion\subsref.m

?????文件????????859??2009-02-15?16:07??robot\@quaternion\unit.m

?????文件???????1461??2009-02-15?16:07??robot\@robot\char.m

?????文件????????875??2009-02-15?16:07??robot\@robot\display.m

?????文件???????1078??2009-02-15?16:07??robot\@robot\friction.m

?????文件???????1140??2009-02-15?16:07??robot\@robot\mtimes.m

?????文件???????1424??2009-02-15?16:07??robot\@robot\nofriction.m

?????文件???????1517??2009-02-15?16:07??robot\@robot\perturb.m

?????文件??????13035??2009-02-15?16:07??robot\@robot\plot.m

............此處省略314個文件信息

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