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資源簡(jiǎn)介

此程序以亮字為例子,計(jì)算了每個(gè)筆畫(huà)起始中間終止點(diǎn)的位置,及六自由度機(jī)械臂末端執(zhí)行器的位姿,基礎(chǔ)坐標(biāo)系x指向正前方,y指向面對(duì)x正方向的左側(cè),末端執(zhí)行器位姿表示選擇歐拉角rxryrz

資源截圖

代碼片段和文件信息

%x1-x14均為“亮”字的十四個(gè)筆畫(huà)。并設(shè)置球的半徑為123mm
clear;??
clc;??
e=[001]?;
x1=6:-6:-6;??
y1=102:-6:90;
z1=-sqrt(123.^2-x1.^2-y1.^2);
%p1=[x1y1z1;x2y2z2];
p2=[6102-68.4763];
%r1=kron(ep1);
%m1=sqrt(sum(p1‘.*p1‘2))‘;
%o1=acos(-z1./m1)*180/pi;
%w1=cos(o1/2);
%c1=-sin(o1/2);
%o=e*p1./abs();

plot3(x1y1z1?‘ks‘‘MarkerFaceColor‘‘k‘);
hold?on;?
x2=-36:36:36;??
y2=repmat(8413);?
z2=-sqrt(123.^2-x2.^2-y2.^2);
plot3(x2y2z2?‘ks‘‘MarkerFaceColor‘‘k‘);
hold?on;?
x3=-18:18:18;??
y3=repmat(7213);
z3=-sqrt(123.^2-x3.^2-y3.^2);
plot3(x3y3z3?‘ks‘‘MarkerFaceColor‘‘k‘);
hold?on;?
x4=repmat(-1813);??
y4=72:-12:48;?
z4=-sqrt(123.^2-x4.^2-y4.^2);
plot3(x4y4z4?‘ks‘‘MarkerFaceColor‘‘k‘);
hold?on;?
x5=repmat(1813);??
y5=72:-12:48;?
z5=-sqrt(123.^2-x5.^2-y5.^2

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