Mechanical arm.zip_机械臂 路径_液压_液压机械_液压机械臂

clear;clc; [lamd1,lamd2,lamd3]=solvet(250,0,pi/3); [Lamd1,Lamd2,Lamd3]=solvet(350,0,pi/2); t=([Lamd1,Lamd2,Lamd3]<[lamd1,lamd2,lamd3]); t(t==0)=-1; lam=abs([Lamd1,Lamd2,Lamd3]-[lamd1,lamd2,lamd3]); max1=max(lam); T1=find(lam==max1); min1=min(lam); Lam=0:0.1:min1; lamda1=lamd1+t(1)*Lam;lamda2=lamd2+t(2)*Lam;lamda3=lamd3+t(3)*Lam; [x,y]=solvex(lamda1,lamda2,lamda3); plot(x,y,'LineWidth',1); hold on; %折线2 lam=lam-min1;T2=find(lam==0);lam(T2)=[]; min1=min(lam); Lam=0:0.1:min1; lamda1=lamda1(length(lamda1));lamda2=lamda2(length(lamda2));lamda3=lamda3(length(lamda3)); switch T2 case 1 lamda2=lamda2+t(2)*Lam; lamda3=lamda3+t(3)*Lam; case 2 lamda1=lamda1+t(1)*Lam; lamda3=lamda3+t(3)*Lam; case 3 lamda2=lamda2+t(2)*Lam; lamda1=lamda1+t(1)*Lam; end [x,y]=solvex(lamda1,lamda2,lamda3); plot(x,y,'LineWidth',1); hold on; %折线3 lam=lam-min1;T2=find(lam==0);lam(T2)=[]; min1=min(lam); lamda1=lamda1(length(lamda1));lamda2=lamda2(length(lamda2));lamda3=lamda3(length(lamda3)); Lam=0:0.1:min1; switch T1 case 1 lamda1=lamda1+t(1)*Lam; case 2 lamda2=lamda2+t(2)*Lam; case 3 lamda3=lamda3+t(3)*Lam; end [x,y]=solvex(lamda1,lamda2,lamda3); plot(x,y,'LineWidth',1); hold on; grid;