機(jī)器人項(xiàng)目報(bào)告循跡避障智能車設(shè)計(jì)(編輯修改稿)
2025-02-14 22:01 本頁(yè)面
【文章內(nèi)容簡(jiǎn)介】 %繞z軸轉(zhuǎn)@角度x2=(0/180)*pix3=(0/180)*pix4=(0/180)*piT10=[cos(x1) sin(x1) 0 a0。sin(x1)*cos(y0) cos(x1)*cos(y0) sin(y0) d1*sin(y0)。sin(x1)*sin(y0) cos(x1)*sin(y0) cos(y0) d1*cos(y0)。0 0 0 1]T21=[cos(x2) sin(x2) 0 a1。sin(x2)*cos(y1) cos(x2)*cos(y1) sin(y1) d2*sin(y1)。sin(x2)*sin(y1) cos(x2)*sin(y1) cos(y1) d2*cos(y1)。0 0 0 1]T32=[cos(x3) sin(x3) 0 a2。sin(x3)*cos(y2) cos(x3)*cos(y2) sin(y2) d3*sin(y2)。sin(x3)*sin(y2) cos(x3)*sin(y2) cos(y2) d3*cos(y2)。0 0 0 1]T43=[cos(x4) sin(x4) 0 a3。sin(x4)*cos(y3) cos(x4)*cos(y3) sin(y3) d4*sin(y3)。sin(x4)*sin(y3) cos(x4)*sin(y3) cos(y3) d4*cos(y3)。0 0 0 1]T40=T10*T21*T32*T43最后得出位姿為：T40 = 1 0 0 180 0 1 0 0 0 0 1 210 0 0 0 1 反解程序:說(shuō)明：代入坐標(biāo)x=200，y=0， z=230。根據(jù)等式左右兩端對(duì)應(yīng)相等。解出關(guān)節(jié)旋轉(zhuǎn)角度。syms a1 a2 a3 a4a4=0*pi/180。 x=220。y=300。z=0。t10=[cos(a1) sin(a1) 0 100。sin(a1) cos(a1) 0 0。0 0 1 0。0 0 0 1]。t21=[cos(a2) sin(a2) 0 100。sin(a2) cos(a2) 0 0。0 0 1 0。0 0 0 1]。t32=[cos(a3) sin(a3) 0 150。sin(a3) cos(a3) 0 0。0 0 1 0。0 0 0 1]。t43=[cos(a4) sin(a4) 0 0。0 0 1 100。sin(a4) cos(a4) 0 0。0 0 0 1]。t=t10*t21*t32*t43。f1=xt(1,4)。f2=yt(2,4)。f3=zt(3,4)。[a1,a2,a3]=solve(f1,f2,f3,a1,a2,a3)。%轉(zhuǎn)化為角度值a11=vpa(a1*180/pi,6)a22=vpa(a2*180/pi,6)a33=vpa(a3*180/pi,6)運(yùn)行結(jié)果：a11 = 0 0 a22 =
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