运动控制matlab代码_matlab_matlab例程_数值算法/人工智能下载-pudn.com

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/62676fce4f8811599eea0e0d/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62676fce4f8811599eea0e0d/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">HK<span class="_ _0"> </span>8</div><div class="t m0 x2 h3 y2 ff2 fs1 fc0 sc0 ls0 ws0">图不太清晰<span class="_ _1"></span>，<span class="ff1">PPT<span class="_ _2"> </span>3-2</span></div><div class="t m0 x3 h3 y3 ff2 fs1 fc0 sc0 ls0 ws0">画出辅助线<span class="_ _1"></span>，推出<span class="_ _3"> </span><span class="ff1">D-H<span class="_ _3"> </span></span>模型中</div><div class="c x1 y4 w2 h4"><div class="t m0 x4 h5 y5 ff3 fs2 fc0 sc0 ls0 ws0">n</div><div class="t m0 x5 h5 y6 ff3 fs2 fc0 sc0 ls0 ws0">1<span class="_ _4"></span>-<span class="_ _5"></span>n</div><div class="t m0 x6 h6 y7 ff3 fs3 fc0 sc0 ls0 ws0">T</div></div><div class="t m0 x7 h3 y3 ff2 fs1 fc0 sc0 ls0 ws0">公式。<span class="_ _6"></span>（</div><div class="c x8 y8 w3 h7"><div class="t m0 x9 h5 y9 ff3 fs2 fc0 sc0 ls0 ws0">1<span class="_ _4"></span>-<span class="_ _7"></span>i</div><div class="t m1 xa h8 ya ff4 fs4 fc0 sc0 ls0 ws0"></div></div><div class="t m0 xb h3 y3 ff2 fs1 fc0 sc0 ls0 ws0">：</div><div class="c xc yb w4 h4"><div class="t m0 xd h9 yc ff5 fs3 fc0 sc0 ls0 ws0"></div><div class="t m0 x9 ha yd ff3 fs2 fc0 sc0 ls0 ws0">1<span class="_ _8"></span><span class="ff4"><span class="_ _5"></span><span class="ff6">i</span></span></div><div class="t m0 xe hb yc ff6 fs3 fc0 sc0 ls0 ws0">z</div></div><div class="t m0 xf h3 y3 ff2 fs1 fc0 sc0 ls0 ws0">与</div><div class="c x10 yb w5 h4"><div class="t m0 x11 h9 yc ff5 fs3 fc0 sc0 ls0 ws0"></div><div class="t m0 x5 ha yd ff6 fs2 fc0 sc0 ls0 ws0">i</div><div class="t m0 xe hb yc ff6 fs3 fc0 sc0 ls0 ws0">z</div></div><div class="t m0 x12 h3 y3 ff2 fs1 fc0 sc0 ls0 ws0">夹角，</div><div class="c x13 yb w3 h4"><div class="t m0 x9 ha yd ff3 fs2 fc0 sc0 ls0 ws0">1<span class="_ _8"></span><span class="ff4"><span class="_ _5"></span><span class="ff6">i</span></span></div><div class="t m0 xe hb yc ff6 fs3 fc0 sc0 ls0 ws0">a</div></div><div class="t m0 x14 h3 y3 ff2 fs1 fc0 sc0 ls0 ws0">：</div><div class="t m0 x3 h3 ye ff2 fs1 fc0 sc0 ls0 ws0">公垂线，</div><div class="c x15 yf w6 h7"><div class="t m0 x5 h5 y9 ff3 fs2 fc0 sc0 ls0 ws0">i</div><div class="t m1 xa h8 ya ff4 fs4 fc0 sc0 ls0 ws0"></div></div><div class="t m0 x16 h3 ye ff2 fs1 fc0 sc0 ls0 ws0">：</div><div class="c x17 y10 w4 h4"><div class="t m0 xd h9 yc ff5 fs3 fc0 sc0 ls0 ws0"></div><div class="t m0 x9 ha yd ff3 fs2 fc0 sc0 ls0 ws0">1<span class="_ _8"></span><span class="ff4"><span class="_ _5"></span><span class="ff6">i</span></span></div><div class="t m0 xe hb yc ff6 fs3 fc0 sc0 ls0 ws0">x</div></div><div class="t m0 x18 h3 ye ff2 fs1 fc0 sc0 ls0 ws0">与</div><div class="c x19 y10 w7 h4"><div class="t m0 x11 h9 yc ff5 fs3 fc0 sc0 ls0 ws0"></div><div class="t m0 x5 ha yd ff6 fs2 fc0 sc0 ls0 ws0">i</div><div class="t m0 xe hb yc ff6 fs3 fc0 sc0 ls0 ws0">x</div></div><div class="t m0 x1a h3 ye ff2 fs1 fc0 sc0 ls0 ws0">家教，</div><div class="c x1b y10 w5 h4"><div class="t m0 x1c ha yd ff6 fs2 fc0 sc0 ls0 ws0">i</div><div class="t m0 x1d h6 yc ff3 fs3 fc0 sc0 ls0 ws0">d</div></div><div class="t m0 x1e h3 ye ff2 fs1 fc0 sc0 ls0 ws0">：第<span class="_ _3"> </span><span class="ff1">i<span class="_ _9"> </span></span>轴与<span class="_ _3"> </span><span class="ff1">i+1<span class="_ _3"> </span></span>轴公垂线）</div><div class="t m0 x1 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0">HK<span class="_ _0"> </span>9</div><div class="t m0 x2 h3 y12 ff2 fs1 fc0 sc0 ls0 ws0">图不太清晰<span class="_ _1"></span>，<span class="ff1">PPT<span class="_ _2"> </span>3-2</span></div><div class="t m0 x3 h3 y13 ff2 fs1 fc0 sc0 ls0 ws0">如上图所示<span class="_ _1"></span>，已<span class="_ _1"></span>知机械手处<span class="_ _1"></span>坐标</div><div class="c x1f y14 w8 h7"><div class="t m2 x1d hc y15 ff4 fs5 fc0 sc0 ls0 ws0"><span class="_ _a"> </span></div><div class="t m0 x20 h6 ya ff3 fs3 fc0 sc0 ls0 ws0">z<span class="_ _b"></span>y<span class="_ _c"></span>x</div></div><div class="t m0 x21 h3 y13 ff2 fs1 fc0 sc0 ls0 ws0">，<span class="_ _1"></span>不考虑机械<span class="_ _1"></span>手的方向，<span class="_ _1"></span>求</div><div class="c x3 y16 w9 h4"><div class="t m2 x1d hc y17 ff4 fs5 fc0 sc0 ls0 ws0"><span class="_ _d"> </span></div><div class="t m0 x22 h5 yd ff3 fs2 fc0 sc0 ls0 ws0">3<span class="_ _e"></span>2<span class="_ _f"></span>1</div><div class="t m1 x23 h8 yc ff4 fs4 fc0 sc0 ls0 ws0"><span class="_ _10"></span><span class="_ _11"></span></div></div><div class="t m0 x24 h3 y18 ff2 fs1 fc0 sc0 ls0 ws0">。</div></div><div class="pi" data-data='{"ctm":[1.611830,0.000000,0.000000,1.611830,0.000000,0.000000]}'></div></div> </body> </html>