delta并联机器人工作空间绘制的MATLAB程序代码

function [position] = forward(thetas, geometry) position = zeros(length(thetas),3); thetas = (pi/180) * thetas; l1 = geometry(1); l2 = geometry(2); l3 = geometry(3); l4 = geometry(4); m = [0 sqrt(3)/2 -sqrt(3)/2; -1 1/2 1/2; 0 0 0]; for i=1:length(thetas) b = [(l3*cos(thetas(i,1)) + l1 - l2) * m(:,1) + [0 0 l3*sin(thetas(i,1))].'... (l3*cos(thetas(i,2)) + l1 - l2) * m(:,2) + [0 0 l3*sin(thetas(i,2))].'... (l3*cos(thetas(i,3)) + l1 - l2) * m(:,3) + [0 0 l3*sin(thetas(i,3))].']; if norm(b(:,1)-b(:,2)) > 2*l2 | norm(b(:,2)-b(:,3)) > 2*l4 |... norm(b(:,1)-b(:,3)) > 2*l4 disp('At least two of the shin spheres were found not to intersect.'); return end plane1 = [(norm(b(:,1))^2 - norm(b(:,2))^2)/2 ... b(1,2)-b(1,1) b(2,2)-b(2,1) b(3,2)-b(3,1)]; plane2 = [(norm(b(:,1))^2 - norm(b(:,3))^2)/2 ... b(1,3)-b(1,1) b(2,3)-b(2,1) b(3,3)-b(3,1)]; a = plucker(plane1, plane2); %Swap the triplets to express the line formed by the intersection of the %two planes in plucker coordinates p = [a(4:6) a(1:3)]; alpha = p(5)/p(3) + b(1,1); beta = b(2,1) - p(4)/p(3); eqn = [(p(2)^2 + p(1)^2 + p(3)^2)/p(3)^2 ... -((2*alpha*p(1) + 2*beta*p(2) + 2*b(3,1)*p(3))/p(3))... (alpha^2 + beta^2 + b(3,1)^2 - l4^2)]; R = roots(eqn); [val, ind] = max(abs(R)); position(i,3) = R(ind); position(i,2) = (p(4) + p(2)*position(i,3))/p(3); position(i,1) = (position(i,3)*p(1) - p(5))/p(3); end