skeleton.m

是一个在matlab下的机器人运动仿真的软件

function skeleton

% global face1base face2base face3base face4base face5base face6base
% global face1elo1 face2elo1 face3elo1 face4elo1 face5elo1 face6elo1
% global face1topelo1 face2topelo1 face3topelo1 face4topelo1 face5topelo1 face6topelo1
% global face1direlo2 face2direlo2 face3direlo2 face4direlo2 face5direlo2 face6direlo2
% global face1bracoelo2 face2bracoelo2 face3bracoelo2 face4bracoelo2 face5bracoelo2
% global face1esqelo2 face2esqelo2 face3esqelo2 face4esqelo2 face5esqelo2 face6esqelo2
% global face1bracelo3 face2bracelo3 face3bracelo3 face4bracelo3 face5bracelo3 face6bracelo3
% global face1bracp face2bracp face3bracp face4bracp face5bracp face6bracp
% global face1bracpd face2bracpd face3bracpd face4bracpd face5bracpd face6bracpd
% global face1bracpe face2bracpe face3bracpe face4bracpe face5bracpe face6bracpe

hold on; cla; grid on;
axis([-300 300 -400 400 -30 350]);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%BASE%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%       
%            x  y   z
face1base=[-30,30,-10-10,1;    %tiro -10 a tudo
           -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];     

%%%%%%%%%%%%%%%%%%%%%%FIM BASE%%%%%%%%%%%%%%%%%%%      

%%%%%%%%%%%%%%%% 1