initial_skeleton.m

是一个在matlab下的机器人运动仿真的软件

function Initial_Skeleton


global face1base face2base face3base face4base face5base face6base...
       face1column1 face2column1 face3column1 face4column1 face5column1 face6column1...
       face1top face2top face3top face4top face5top face6top...
       face1small1 face2small1 face3small1 face4small1 face5small1 face6small1...
       face1column2 face2column2 face3column2 face4column2 face5column2 ...
       face1small2 face2small2 face3small2 face4small2 face5small2 face6small2...
       face1column3 face2column3 face3column3 face4column3 face5column3 face6column3...
       face1wrist face2wrist face3wrist face4wrist face5wrist face6wrist...
       face1cluth face2cluth face3cluth face4cluth face5cluth face6cluth...
       face1tool face2tool face3tool face4tool face5tool face6tool
   
%% Initial base face
%           x   y   z
face1base=[-30,30,-10-10,1;    
           -30,30,0-10,1;
           -30,-30,0-10,1;
           -30,-30,-10-10,1;
           -30,30,-10-10,1];

face2base=[-30,-30,-10-10,1;
            30,-30,-10-10,1;
            30,-30,0-10,1;
           -30,-30,0-10,1;
           -30,-30,-10-10,1]; 
     
face3base=[30,-30,-10-10,1;
           30,-30,0-10,1;
           30,30,0-10,1;
           30,30,-10-10,1;
           30,-30,-10-10,1];
     
face4base=[-30,30,-10-10,1;
           -30,30,0-10,1;
            30,30,0-10,1;
            30,30,-10-10,1;
          -30,30,-10-10,1];      

face5base=[-30,30,-10-10,1;
           -30,-30,-10-10,1;
            30,-30,-10-10,1;
            30,30,-10-10,1;
           -30,30,-10-10,1];   
   
face6base=[-30,30,0-10,1;
           -30,-30,0-10,1;
            30,-30,0-10,1;
            30,30,0-10,1;
           -30,30,0-10,1];  

%% Initial column 1
%              x   y  z
face1column1=[-10,10,0-10,1;
             -10,-10,0-10,1;
              10,-10,0-10,1;
              10,10,0-10,1;
             -10,10,0-10,1];

face2column1=[-10,10,0-10,1;
           -10,-10,0-10,1;
           -10,-10,200-10,1;
           -10,10,200-10,1;
           -10,10,0-10,1]; 
     
face3column1=[-10,-10,0-10,1;
            10,-10,0-10,1;
            10,-10,200-10,1;
           -10,-10,200-10,1;
           -10,-10,0-10,1];
     
face4column1=[10,-10,0-10,1;
           10,10,0-10,1;
           10,10,200-10,1;
           10,-10,200-10,1;
           10,-10,0-10,1];      

face5column1=[-10,10,0-10,1;
            10,10,0-10,1;
            10,10,200-10,1;
           -10,10,200-10,1;
           -10,10,0-10,1];   
   
face6column1=[-18,18,210-10,1;
           -18,-18,210-10,1;
            18,-18,210-10,1;
            18,18,210-10,1;
           -18,18,210-10,1];

%% Initial top face
%          x  y     z
face1top=[-18,18,200-10,1;
          -18,-18,200-10,1;
           18,-18,200-10,1;
           18,18,200-10,1;
          -18,18,200-10,1];

face2top=[-18,18,200-10,1;
              -18,-18,200-10,1;
              -18,-18,210-10,1;
              -18,18,210-10,1;
              -18,18,200-10,1]; 
     
face3top=[-18,-18,200-10,1;
               18,-18,200-10,1;
               18,-18,210-10,1;
              -18,-18,210-10,1;
              -18,-18,200-10,1];
     
face4top=[18,-18,200-10,1;
              18,18,200-10,1;
              18,18,210-10,1;
              18,-18,210-10,1;
              18,-18,200-10,1];      

face5top=[-18,18,200-10,1;
               18,18,200-10,1;
               18,18,210-10,1;
              -18,18,210-10,1;
              -18,18,200-10,1];   
   
face6top=[-18,18,210-10,1;
              -18,-18,210-10,1;
               18,-18,210-10,1;
               18,18,210-10,1;
              -18,18,210-10,1];  

%% Initial small 1
%             x   y  z
face1small1=[-15,15,0-10,1;
              -15,-15,0-10,1;
               15,-15,0-10,1;
               15,15,0-10,1;
              -15,15,0-10,1];

face2small1=[-15,15,0-10,1;
              -15,-15,0-10,1;
              -15,-15,10,1;
              -15,15,10,1;
              -15,15,0-10,1]; 
     
face3small1=[-15,-15,0-10,1;
               15,-15,0-10,1;
               15,-15,10,1;
              -15,-15,10,1;
              -15,-15,0-10,1];
     
face4small1=[15,-15,0-10,1;
              15,15,0-10,1;
              15,15,10,1;
              15,-15,10,1;
              15,-15,0-10,1];      

face5small1=[-15,15,0-10,1;
               15,15,0-10,1;
               15,15,10,1;
              -15,15,10,1;
              -15,15,0-10,1];   
   
face6small1=[-15,15,10,1;
              -15,-15,0-10,1;
               15,-15,0-10,1;
               15,15,0-10,1;
              -15,15,10,1];   
    
%% Initial column 2
%             x   y   z
face1column2=[15,-10,0-10,1;
                95,-10,0-10,1;
                95,-10,10,1;
                15,-10,10,1;
                15,-10,0-10,1];

face2column2=[15,-10,0-10,1;
                15,10,0-10,1;
                95,10,0-10,1;
                95,-10,0-10,1;
                15,-10,0-10,1]; 
     
face3column2=[15,10,0-10,1;
                95,10,0-10,1;
                95,10,10,1;
                15,10,10,1;
                15,10,0-10,1];
     
face4column2=[15,-10,10,1;
                15,10,10,1;
                95,10,10,1;
                95,-10,10,1;
                15,-10,10,1];      

face5column2=[95,-10,0-10,1;
                95,10,0-10,1;
                95,10,15-10,1;
                95,-10,15-10,1;
                95,-10,0-10,1];   
            
%% Initial small 2
face1small2=[125,-15,-10-10,1;
               95,-15,-10-10,1;
               95,15,-10-10,1;
              125,15,-10-10,1;
              125,-15,-10-10,1];

face2small2=[125,-15,-10-10,1;
               95,-15,-10-10,1;
               95,-15,30-10,1;      
              125,-15,30-10,1;
              125,-15,-10-10,1]; 
     
face3small2=[95,-15,-10-10,1;
              95,15,-10-10,1;
              95,15,30-10,1;
              95,-15,30-10,1;
              95,-15,-10-10,1];
     
face4small2=[95,15,-10-10,1;
             125,15,-10-10,1;
             125,15,30-10,1;
              95,15,30-10,1;
              95,15,-10-10,1];      

face5small2=[125,-15,-10-10,1;
              125,15,-10-10,1;
              125,15,30-10,1;
              125,-15,30-10,1;
              125,-15,-10-10,1];   
   
face6small2=[125,-15,30-10,1;
               95,-15,30-10,1;
               95,15,30-10,1;
              125,15,30-10,1;
              125,-15,30-10,1];    
    
%% Initial colum 3
face1column3=[-10,-10,0,1;
               -10,10,0,1;
                10,10,0,1;
                10,-10,0,1;
               -10,-10,0,1];

face2column3=[-10,-10,0,1;
                10,-10,0,1;
                10,-10,-250,1;
               -10,-10,-250,1;
               -10,-10,0,1]; 
     
face3column3=[-10,10,0,1;
                10,10,0,1;
                10,10,-250,1;
               -10,10,-250,1;
               -10,10,0,1];
     
face4column3=[10,-10,-250,1;
              -10,-10,-250,1;
              -10,10,-250,1;
               10,10,-250,1;
               10,-10,-250,1];      

face5column3=[-10,-10,0,1;
               -10,10,0,1;
               -10,10,-250,1;
               -10,-10,-250,1;
               -10,-10,0,1];   
   
face6column3=[10,10,0,1;
               10,-10,0,1;
               10,-10,-250,1;
               10,10,-250,1;
               10,10,0,1];
           
%% Initial wrist
face1wrist=[-10,-10,-10,1;
           -10,10,-10,1;
           -10,10,-25,1;
           -10,-10,-25,1;
           -10,-10,-10,1];

face2wrist=[-10,10,-25,1;
            -10,-10,-25,1;
            10,-10,-25,1;
            10,10,-25,1;
            -10,10,-25,1]; 
     
face3wrist=[10,10,-25,1;
            10,-10,-25,1;
            10,-10,-10,1;
            10,10,-10,1;
            10,10,-25,1];
     
face4wrist=[-10,-10,-10,1;
            -10,10,-10,1;
            10,10,-10,1;
            10,-10,-10,1;
            -10,-10,-10,1];      

face5wrist=[-10,-10,-10,1;
            -10,-10,-25,1;
            10,-10,-25,1;
            10,-10,-10,1;
            -10,-10,-10,1];   
   
 face6wrist=[-10,10,-10,1;
             -10,10,-25,1;
             10,10,-25,1;
             10,10,-10,1;
             -10,10,-10,1];
   
%% Initial cluth
face1cluth=[10,-10,-40,1;
             -10,-10,-40,1;
             -10,10,-40,1;
             10,10,-40,1;
             10,-10,-40,1];

face2cluth=[-10,-10,-40,1;
             -10,10,-40,1;
             -10,10,40,1;
             -10,-10,40,1;
             -10,-10,-40,1]; 
     
face3cluth=[-10,10,40,1;
             -10,-10,40,1;
             10,-10,40,1;
             10,10,40,1;
             -10,10,40,1];
     
face4cluth=[10,-10,-40,1;
             10,10,-40,1;
             10,10,40,1;
             10,-10,40,1;
             10,-10,-40,1];      

face5cluth=[10,-10,-40,1;
             -10,-10,-40,1;
             -10,-10,40,1;
             10,-10,40,1;
             10,-10,-40,1];   
   
 face6cluth=[-10,10,-40,1;
              10,10,-40,1;
              10,10,40,1;
              -10,10,40,1;
              -10,10,-40,1];
          
%% Initial tool
face1tool=[-10,-10,30,1;
           -10,10,30,1;
           -10,10,10,1;
           -10,-10,10,1;
           -10,-10,30,1];

face2tool=[-10,10,10,1;
            -10,-10,10,1;
            10,-10,10,1;
            10,10,10,1;
            -10,10,10,1]; 
     
face3tool=[10,10,10,1;
            10,-10,10,1;
            10,-10,30,1;
            10,10,30,1;
            10,10,10,1];
     
face4tool=[-10,-10,30,1;
            -10,10,30,1;
            10,10,30,1;
            10,-10,30,1;
            -10,-10,30,1];      

face5tool=[-10,-10,30,1;
            -10,-10,10,1;
            10,-10,10,1;
            10,-10,30,1;
            -10,-10,30,1];   
   
 face6tool=[-10,10,30,1;
             -10,10,10,1;
             10,10,10,1;
             10,10,30,1;
             -10,10,30,1];