資源簡介
5次多項(xiàng)式插值,用于機(jī)器人軌跡規(guī)劃,是初學(xué)者很好的例子,有助于理解機(jī)器人的運(yùn)動(dòng)表達(dá),及其軌跡規(guī)劃的概念
代碼片段和文件信息
function??POL5THXYC(T)
%UNtitleD?Summary?of?this?function?goes?here
%???Detailed?explanation?goes?here
%%5th?polinomal?motion?law
%%??syms?T;solve(a5*T^5+a4*T^4+a3*T^3-2*pi*25)
%%1:y=3*x
%%2:y=-2*x+5
t=linspace(0T50);
h=T/50;
L=2*pi*25;R=25;
a5=6*L/T^5;
a4=-15*L/T^4;
a3=10*L/T^3;
s=a5*t.^5+a4*t.^4+a3*t.^3;
v=5*a5*t.^4+4*a4*t.^3+3*a3*t.^2;?%%v=gradient(sh);
a=20*a5*t.^3+12*a4*t.^2+6*a3*t;%%a=gradient(vh);
L1=sqrt(10)+sqrt(1.5^2+9);
x=R*cos(s/R);y=R*sin(s/R);
x=R*cos(s/R);y=R*sin(s/R);
vx=gradient(x
?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????文件????????1057??2013-12-18?16:26??POL5THXYC.m
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