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发表于 2012-4-11 19:04:01
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来自 大连理工大学
Rnavy 发表于 2012-4-11 16:13
可能我的表达有误,是这样子的。我是想在时间t的范围内,每一个步长求出A1~A6的值,并且分别存到以A1.txt ...
d2=85;X0=85;Y0=0;Z0=149.9999879082; %常量定义
% syms Px Py Pz
Px=X0;Pz=Z0;
for i=1:5
t=i/5; %时间段
Nx=-1;Oy=1;Az=-1;Ny=0;Nz=0;Ox=0;Oz=0;Ax=0;Ay=0;
Py=Y0+t*0.5;
theta1=atan2(Py,Px)-atan2(d2,sqrt(Px+Py-(d2)^2)); %#ok<*SAGROW>
dlmwrite('A1.txt',theta1,'delimiter','\t','newline','pc','-append');
S1=sin(theta1);C1=cos(theta1);
theta2=atan2((Px*C1+Py*S1),(Pz));
C2=cos(theta2);S2=sin(theta2);
dlmwrite('A2.txt',theta2,'delimiter','\t','newline','pc','-append');
theta3=S2*(C1*Px+S1*Py)+C2*Pz;
dlmwrite('A3.txt',theta3,'delimiter','\t','newline','pc','-append');
theta4=atan2((Ax*(-S1)+C2*Ay),C2*(C1*Ax+S1*Ay)-S2*Az);
S4=sin(theta4);C4=cos(theta4);
dlmwrite('A4.txt',theta4,'delimiter','\t','newline','pc','-append');
theta5=atan2((C4*(C2*(C1*Ax+S1*Ay)-S2*Az)+S4*(C1*Ay-S1*Ax)),(S2*(C1*Ax+S1*Ay)+C2*Az));
S5=sin(theta5);C5=cos(theta5);
dlmwrite('A5.txt',theta5,'delimiter','\t','newline','pc','-append');
theta6=atan2(((-C5*(C4*(C2*(C1*Ox+S1*Oy)-S2*Oy)+S4*(-S1*Ox+C1*Oy))+S5*(S2*(C1*Ox+S1*Oy))+C2*Oz)),(-S4*(C2*(C1*Ox+S1*Oy))+C4*(-S1*Ox+C1*Oy)));
dlmwrite('A6.txt',theta6,'delimiter','\t','newline','pc','-append');
end
那这样,不知道是否满足你要求了 |
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