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1 在平面上画字母C$ J' |# H. Z% P S) F
- mdl_puma560
- aplha=pi/4:pi/40:2*pi-pi/4;
- k=inf; % 斜面斜率k
- r=1;
- letterShrink=0.2; %缩放倍数
- letterTranslX=0.4; % 沿X平移量
- letterTranslY=0; % 沿Y平移量
- letterTranslZ=0; % 沿Z平移量
- if k==inf % 垂直平面
- z=r*cos(aplha);
- x= diag(zeros(length(z)));
- y=r*sin(aplha);
- path=[diag(zeros(length(y))),y',z'];
- path=[path(1,：)+0.5*[-1,0,0];path;path(end,：)+0.5*[-1,0,0]]; % 垂直平面上的C
- y=-0.5:0.1:0.5;
- z=-0.5:0.1:0.5;
- [Y, Z] = meshgrid(y, z);
- X=ones(size(Y))*letterTranslX;
- mesh(X,Y,Z)
- hold on
- initPoint=path(1,：)+0.5*[-1,0,0];
- else
- x=r*cos(aplha);
- y=r*sin(aplha);
- z=k*x;
- path=[x',y',z'];
- path=[path(1,：)+0.5*[-k,0,1];path;path(end,：)+0.5*[-k,0,1]]; % 斜率为k的斜面上的C
- x=0:0.1:1;
- y=-0.5:0.1:0.5;
- [X,Y]=meshgrid(x,y);
- z=k*(X-letterTranslX);
- mesh(X,Y,z)
- hold on
- initPoint=path(1,：)+0.5*[-k,0,1];
- end
- plot3(letterShrink*path(:,1)+letterTranslX,letterShrink*path(:,2)...
- +letterTranslY,letterShrink*path(:,3)++letterTranslZ,'color','k','LineWidth',1)
- p=mstraj(path,[0.8,0.8,0.6],[],initPoint,0.4,0.1);
- Tp=transl(letterShrink*p);
- Tp=homtrans(transl(letterTranslX, letterTranslY, letterTranslZ),Tp);
- p560.tool=transl([0,0,0.2])*trotx(pi);
- q=p560.ikine6s(Tp);
- p560.plot(q)
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k=1
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8 U1 c, X1 {7 v7 Tk=inf
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2 在球面上画字母E
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- clc;
- clear
- close all
- mdl_puma560
- letterShrink=0.2; %缩放倍数
- letterTranslX=0.4; % 沿X平移量
- letterTranslY=0; % 沿Y平移量
- letterTranslZ=-1; % 沿Z平移量
- r=0.3;
- [x y z]=sphere(50);
- mesh(r*x+letterTranslX,r*y+letterTranslY,r*z+letterTranslZ);%绘制半径为2的球
- hold on
- path=[1,-1,1,;1,-1,0;1,-1,0;0,-1,0;0,1,0;1,1,0;1,1,1;0,0,1;0,0,0;1,0,0;1,0,1]*letterShrink;
- initPoint=path(1,：）;
- path=mstraj(path,[0.5,0.5,0.3],[],initPoint,0.1,0.2);
- [m,n]=size(path);
- x1=path(:,1);
- y1=path(:,2);
- indexDraw=(path(:,3)==letterTranslZ);
- indexNotDraw=(path(:,3)~=letterTranslZ);
- path(indexDraw,3)=sqrt(r^2-(x1(indexDraw)).^2-(y1(indexDraw)).^2);
- path(indexNotDraw,3)=path(indexNotDraw,3)+sqrt(r^2-(x1(indexNotDraw)).^2-(y1(indexNotDraw)).^2);
- for i=1:m
- path(i,：）= path(i,：）+[letterTranslX,letterTranslY,letterTranslZ];
- end
- plot3(path(:,1),path(:,2),path(:,3),'color','k','LineWidth',2)
- rotate3d on
- p560.tool=transl([0,0,0.5])*trotx(pi);
- Tp=transl(path);
- q=p560.ikine6s(Tp);
- p560.plot(q)
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发表于 2021-7-19 10:08
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