sanliangan.txt

多极摆给机器人仿真的连杆模型提供了有用的饿帮助和理论依据

plot([-0.2;0.2],[0;0],'color','y','linestyle','-',...
    'linewidth',10)
float l;
l0=1.2;
l1=1.2;
l2=0.7;
l3=0.7
theta0=pi/4;
x0=l0*sin(theta0);
y0=l0*cos(theta0);
theta1=-pi/4;
x1=l1*sin(theta1);
y1=l1*cos(theta1);
theta2=0;
x2=l2*sin(theta2);
y2=l2*cos(theta2);
theta3=0;
x3=l3*sin(theta3);
y3=l3*cos(theta3);

axis([-0.75,0.75,0,2.5]);
axis('off');     
body0=line([0;x0],[0;y0],'color','k','linestyle','-',...
    'erasemode','xor')
body1=line([0;x1],[0;y1],'color','y','linestyle','-',...
    'erasemode','xor')
body2=line([x0;x2],[y0;y2],'color','r','linestyle','-',...
    'erasemode','xor')
body3=line([x1;x3],[y1;y3],'color','b','linestyle','-',...
    'erasemode','xor')

t=0;
dt=0.01;
while 1
    t=t+dt;
    theta=theta0*cos(sqrt(g/l0)*t);
    x=l0*sin(theta);
    y=(-1)*l0*cos(theta);
   theta3=theta1*cos(sqrt(g/l1)*t);
    x3=l1*sin(theta3);
    y3=(-1)*l1*cos(theta3);
    theta4=theta2*cos(sqrt(g/l2)*t);
    x4=l2*sin(theta4);
    y4=(-1)*l2*cos(theta4);
   theta5=theta2*cos(sqrt(g/l3)*t);
    x5=l3*sin(theta4);
    y5=(-1)*l3*cos(theta4);
    set(body0,'xdata',[0;x],'ydata',[0;y]);
    set(body1,'xdata',[0;x3],'ydata',[y;y3]);
    set(body2,'xdata',[x;x4],'ydata',[y;y4]);
    set(body3,'xdata',[x3;x5],'ydata',[y3;y5]);
   drawnow;
end