initial_veriable.m

是一个在matlab下的机器人运动仿真的软件

function Initial_veriable

global theta1...
       theta2... %wrist, that is, cluth of tool rotates round x-axis 
       theta3... %wrist that rotates round y-axis
       theta4... %wrist,that is, tip tool rotates around x-axis
       d1... 
       d2... 
       d3... 
       l1...
       %Parameters talked in above are used in dirct calculate  
   
global Px Py Pz thetatool thetatip
%        Px Py Pz is the position of terminal tool (terminal pointof tool)
%        thetatool is the angle of terminal tool around x-axes
%        thetatip is the angle of terminal tool around y-axis
%        Parameters talked in above are used in inverse calculation
   
% global flag_joystick...
%        y_joy_anteriord2...
%        z_joy_anteriord3...
%        y_joy_anteriorteta1...
%        y_joy_anteriorteta4...
%        y_joy_anteriorteta5...
%        y_joy_anteriorteta6...
%        %For Direct calculation
%    
%        x_joyantesPx...
%        y_joyantesPy...
%        z_joyantesPz...
%        %For inverse calculation
   
%daqregister('Joy')       
% flag_joystick=1; 
% y_joy_anteriord2=0;
% z_joy_anteriord3=0;
% y_joy_anteriorteta1=0;
% y_joy_anteriorteta4=0;
% y_joy_anteriorteta5=0;
% y_joy_anteriorteta6=0;
% 
% x_joyantesPx=0;
% y_joyantesPy=0;
% z_joyantesPz=0;

theta1=0;
theta2=pi/2;
theta3=0;
theta4=0;
d1=90; %0<=d1<=180
d2=125; %0<=d2<=250
d3=25; % It is a constant number.
l1=110; %It is a constant number.

Px=150;
Py=110;
Pz=90;
thetatool=pi/2; %theta2+theta4
thetatip=0; %theta3

end