%----------------------Configuration?Check---------------------------------
%
%???This?program?serves?to?check?whether?the?micro?cube?of?space?is?in?the?
%???workspace?based?on?the?constraints?condition?of?parameters?i.e.?theta1‘
%???l1l2?and?the?angles?between?the?symmetric?axis?of?spheical?and?the?li3.?
%
%--------------------------------------------------------------------------


%%?l1?theta6?theta2
%Inverse?kinematic?problem
theta11（1:）?=?（-60）*pi/180;
theta11（2:）=（60）*180/pi;
theta11（3:）=180*pi/180;
?for?i?=?1:3?
?	s（:i）?=?C+R*B（:i）-P0（:i）;?
	L（i）?=?norm（s（:i））;?%Pi5-Pi0?distance
????theta4（i:）=pi-atan2（sqrt（s（1i）^2+s（2i）^2）/L（i）?s（3i）/L（i））;
????theta5（i:）=pi-theta1-theta4（i:）;
????theta2（i:）=asin（（L（i）*sin（theta5（i:））-l2（i:））/l3（i:））+pi/2;
??

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

?????文件???????3088??2012-05-25?12:41??MyWSP\ConfigCheck.asv

?????文件???????3104??2012-05-27?19:10??MyWSP\ConfigCheck.m

?????文件????????159??2012-05-25?18:20??MyWSP\go.asv

?????文件???????2037??2012-05-25?12:30??MyWSP\OWplot.m

?????文件???????1538??2012-05-16?15:58??MyWSP\OWvol.m

?????文件????????768??2012-05-16?15:58??MyWSP\Rot_mat2.m

?????文件????????550??2012-05-22?09:12??MyWSP\solve_l1.asv

?????文件????????132??2012-05-22?08:40??MyWSP\Tricos.m

?????文件???????3541??2012-05-27?19:01??MyWSP\workspace_main.asv

?????文件???????3542??2012-05-27?20:51??MyWSP\workspace_main.m

?????文件????????116??2012-05-25?16:53??MyWSP\wspspline.asv

?????目錄??????????0??2012-12-26?16:18??MyWSP

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

????????????????18575????????????????????12