├── Chapter 02 ├── eulerzyx2rotm.m ├── main.mlx ├── main.pdf ├── rotationx.m ├── rotationy.m ├── rotationz.m ├── rotm2eulerzyx.m ├── translation.m ├── trotationx.m ├── trotationy.m ├── trotationz.m ├── 齐次变换逆矩阵.nb └── 齐次变换逆矩阵.pdf ├── Chapter 03 ├── main.mlx ├── mylink.m ├── 作业说明.txt ├── 正运动学解.nb ├── 正运动学解.pdf ├── 第四周任务一：课本MATLAB练习.pdf ├── 第四周任务二：3.26齐次变换矩阵.nb └── 第四周任务二：3.26齐次变换矩阵.pdf ├── Chapter 04 ├── invkine.mlx ├── main.mlx ├── theta2to1.mlx └── 实验报告-19374128-白梓彤.pdf ├── Chapter 05 ├── main.mlx ├── myjacobian.mlx ├── 作业5-12.nb ├── 作业5-12.pdf └── 作业5-22.nb ├── Chapter 06 └── 作业6-3.nb ├── Chapter 07 ├── 作业7-13 │ ├── hw7_13.docx │ ├── hw7_13.mlx │ └── hw7_13.pdf └── 作业7_4 │ ├── hw7_4.docx │ ├── hw7_4.mlx │ └── hw7_4.pdf └── README.md /Chapter 02/eulerzyx2rotm.m: -------------------------------------------------------------------------------- 1 | function R = eulerzyx2rotm(alpha, beta, gamma, deg) 2 | %eulerzyx2rotm 通过Z-Y-X欧拉角，得到旋转矩阵 3 | 4 | Rz = rotationz(alpha, deg); 5 | Ry = rotationy(beta, deg); 6 | Rx = rotationx(gamma, deg); 7 | 8 | R = Rz * Ry * Rx; 9 | end 10 | 11 | -------------------------------------------------------------------------------- /Chapter 02/main.mlx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Bozenton/Robotics_Matlab/bb9b8cbc7ea57e14ad3e585dffecc0bd17262705/Chapter 02/main.mlx -------------------------------------------------------------------------------- /Chapter 02/main.pdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Bozenton/Robotics_Matlab/bb9b8cbc7ea57e14ad3e585dffecc0bd17262705/Chapter 02/main.pdf -------------------------------------------------------------------------------- /Chapter 02/rotationx.m: -------------------------------------------------------------------------------- 1 | function R = rotationx(t,deg) 2 | %rotationx 绕着x轴旋转的旋转矩阵 3 | % t 为旋转角度 4 | % deg 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-------------------------------------------------------------------------------- https://raw.githubusercontent.com/Bozenton/Robotics_Matlab/bb9b8cbc7ea57e14ad3e585dffecc0bd17262705/Chapter 02/齐次变换逆矩阵.pdf -------------------------------------------------------------------------------- /Chapter 03/main.mlx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Bozenton/Robotics_Matlab/bb9b8cbc7ea57e14ad3e585dffecc0bd17262705/Chapter 03/main.mlx -------------------------------------------------------------------------------- /Chapter 03/mylink.m: -------------------------------------------------------------------------------- 1 | classdef mylink 2 | %mylink 自定义的一个连杆类，用来存放D-H参数 3 | % 此处显示详细说明 4 | 5 | properties 6 | alpha % 连杆扭转角 7 | a % 连杆长度 8 | d % 连杆偏距 9 | theta % 关节角 10 | isrevolute % 是转动关节还是移动关节 11 | end 12 | 13 | methods 14 | function obj = mylink(alpha_,a_, d_, theta_, isrevolute_) 15 | % 构造函数 16 | % 利用此函数初始化类对象 17 | 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-------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Robotics_Matlab 2 | 《机器人学导论》课后MATLAB题 3 | --------------------------------------------------------------------------------