function?[?p?]?=?calcCircleMotGlobalParameter（?pmArcWelding?）
%UNtitleD2?Summary?of?this?function?goes?here
%???Detailed?explanation?goes?here
quatFstPoint?=?angle2quat（mArcWelding.axisposPointS（4）mArcWelding.axisposPointS（5）mArcWelding.axisposPointS（6））;
quatMidPoint?=?angle2quat（mArcWelding.axisposPointM（4）mArcWelding.axisposPointM（5）mArcWelding.axisposPointM（6））;
quatEndPoint?=?angle2quat（mArcWelding.axisposPointE（4）mArcWelding.axisposPointE（5）mArcWelding.axisposPointE（6））;

%%??這里好像有問題，當畫整圓時候就變成不畫了
if?abs（abs（mArcWelding.lrArcRotatedDegreeSigned）?-?2*pi）?????tmpDot?=?0;
????angle1st?=?0;?
????angle2nd?=?0;
????circleOrientAngle?=?0;
else
????%%??計算前兩個姿態間夾角
????tmpDot?=?quatFstPoint（1）*quatMidPoint（1）?+?quatFstPoint（2）*quatMidPoint（2）?+?quatFstPoint（3）*quatMidPoint（3）?+?quatFstPoint（4）*quatMidPoint（4）;
????if?tmpDot?>?1
????????angle1st?=?0;
????elseif?tmpDot?????????????angle1st?=?360;
????else
????????????angle1st?=?2?*?acos（tmpDot）?*?180/pi;
????end
????if?abs（angle1st）?????????angle1st?=?0;
????end
????%%??計算后兩個姿態間的夾角
????tmpDot?=?quatEndPoint（1）*quatMidPoint（1）?+?quatEndPoint（2）*quatMidPoint（2）?+?quatEndPoint（3）*quatMidPoint（3）?+?quatEndPoint（4）*quatMidPoint（4）;
????if?tmpDot?>=?1
????????angle2nd?=?0;
????else?if?tmpDot?<=?-1
????????????angle2nd?=?360;
????????else
????????????angle2nd?=?2*acos（tmpDot）?*180/pi;
????????end
????end
????if?abs（angle2nd）?????????angle2nd?=?0;
????end
????circleOrientAngle?=?angle1st?+?angle2nd;
????%%??將姿態角度賦給P變量
????p.arrCirclePhyPara（15）?=?circleOrientAngle;
????
????%%??分發加減速規劃算法
????p?=?IssueAccDecTime（pmArcWelding）;
end
end

%%??速度加速度分發算法
function?[?p?]?=?IssueAccDecTime（?pmArcWelding?）
if?~mArcWelding.bWelding
????p=?AccDecNormalTime（pmArcWelding）;
else
????switch?mArcWelding.nWeldingMode
????????case?0
????????????p?=?AccDecArcWeldingModeTime0（pmArcWelding）;
??????????
????????case?1
????????????p?=?AccDecArcWeldingModeTime1（pmArcWelding）;
????????????
????????case?2
????????????p?=?AccDecArcWeldingModeTime2（pmArcWelding）;
????????????
????????case?3
????????????p?=?AccDecArcWeldingModeTime3（pmArcWelding）;
???????????
????????case?4
????????????p?=?AccDecArcWeldingModeTime4（pmArcWelding）;
????????????
????????otherwise
????????????p?=?AccDecArcWeldingModeTime0（pmArcWelding）;
????end
end
???????????
end

%%??正常狀態下
function?[?p?]?=?AccDecNormalTime（?pmArcWelding?）
%%??2.1先計算圓弧位置運動所需時間
circleVConstPos?=?p.lrVelIn;
circleAccPos?=?p.lrAccIn;
circleDecPos?=?p.lrDecIn;
posTimeSpan?=?calculateNormalMoveTime（p.arrCirclePhyPara（5）circleAccPoscircleVConstPoscircleDecPos）;

%%??2.2再計算直線姿態運動所需時間
circleVConstOrient?=?p.lrVelOri;
circleAccOrient?=?p.lrAccOri;
circleDecOrient?=?p.lrDecOri;
orientTimeSpan?=?calculateNormalMoveTime（p.arrCirclePhyPara（15）circleAccOrientcircleVConstOrientcircleDecOrient）;

%%??2.3統籌位置和姿態運動各段時間
if?（sum（posTimeSpan）?>=?sum（orientTimeSpan））
???

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

?????文件???????9687??2018-10-16?15:35??Arc\calcCircleMotGlobalParameter.m

?????文件???????5683??2018-10-15?17:11??Arc\circleOrientInterp.m

?????文件???????2269??2018-10-16?14:32??Arc\circlePosInterp.m

?????文件??????13260??2018-10-16?08:30??Arc\GetSixAnglesIK.m

?????文件??????11067??2018-10-23?15:52??Arc\InvArc.m

?????文件???????2838??2018-10-16?14:33??Arc\IssueCalculateNextPos.m

?????文件???????1217??2018-09-07?10:58??Arc\IssueVel.m

?????文件????????436??2018-10-16?14:40??Arc\MoveArc.m

?????文件???????4872??2018-10-22?16:54??Arc\m_CalcCirCenterRadius.m

?????文件????????322??2018-10-22?17:43??Arc\test.m

?????文件?????????95??2018-10-22?17:38??Arc\try.m

?????目錄??????????0??2019-08-27?20:03??Arc

-----------?---------??----------?-----??----

????????????????51746????????????????????12