├── ABBKinematics ├── ABBFkinematicsMdh.m ├── ABBFkinematicsSdh.m ├── ABBIkineMdh.m ├── ForwardKinematicsMDH.m ├── ForwardKinematicsSDH.m └── JacobAnalyticalMethod.m ├── DoubleArm ├── DoubleArm_UR_FK.m └── DoubleArm_puma560_FK.m ├── DynamicKinematics ├── SixDofsNewtonEuler.m └── ThreeDofDynamics.m ├── README.md ├── TrajectoryPlanning ├── Cubic_spline_test.m ├── SingleJointSpaceTrajectory.m ├── SingleJointSpaceTrajectory_2.m ├── SingleJointSpaceTrajectory_3.m ├── crout.m ├── cubicSpline_1.m ├── cubicSpline_2.m ├── cubicSpline_3.m └── cubicSpline_4.m └── five_dof ├── CharacterLine.m ├── ContinueSpaceLine_Triangular_pick_and_place.m ├── ContinueSpaceLine_gantry_pick_and_place.m ├── Gauss_lie.m ├── Gauss_shunxu.m ├── Interpolation_test.m ├── MDHTrans.m ├── Normalization.m ├── Normalization_S.m ├── PathSegmentTrans.m ├── RPY_angle.m ├── RPY_rot.m ├── STrajectoryPara.m ├── S_acceleration.m ├── S_jerk.m ├── S_position.m ├── S_velocity.m ├── SpaceCircle.m ├── SpaceCircle_Q.m ├── SpaceLine.m ├── SpaceLine_Q.m ├── TransMotionPara.m ├── Transition_arc.m ├── Untitled.m ├── Untitled111.m ├── five_dof_MDH.m ├── five_dof_SDH.m ├── five_dof_SDH_2.m ├── five_dof_ikine.m ├── mat1.mat ├── mat2.mat ├── matlab 3D Circle Interpolation └── matlab 3D Circle Interpolation │ ├── CalCentralAngle.m │ ├── CalCircleCenter.m │ ├── CirInterpolation.m │ ├── Distance.m │ ├── circtraj.m │ ├── matlab.mat │ ├── test.m │ ├── xj.m │ └── 机器人的三种规则曲线插补算法.pdf ├── q2tr.m ├── test.gif ├── test.m ├── test2.m ├── test3.m └── 五自由度机械臂.ai /ABBKinematics/ABBFkinematicsMdh.m: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xuuyann/RobotLearningCode/470a3c54032cd40236af48a919f000be01bcc23e/ABBKinematics/ABBFkinematicsMdh.m -------------------------------------------------------------------------------- /ABBKinematics/ABBFkinematicsSdh.m: -------------------------------------------------------------------------------- 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vmax, amax, jmax, t); 20 | % figure(1) 21 | plot3(x, y, z, '.') 22 | grid on 23 | hold on 24 | plot3(S(1), S(2), S(3), 'go') 25 | % plot3(M(1), M(2), M(3), 'bo') 26 | plot3(D(1), D(2), D(3), 'ro') 27 | % figure(2) 28 | % subplot(3, 1, 1); 29 | % plot([0: t: 1.311], x) 30 | % ylabel('X') 31 | % grid on 32 | % subplot(3, 1, 2); 33 | % plot([0: t: 1.311], y) 34 | % ylabel('Y') 35 | % grid on 36 | % subplot(3, 1, 3) 37 | % plot([0: t: 1.311], z) 38 | % ylabel('Z') 39 | % grid on 40 | % j = 1; 41 | % for i = 0: t: 1.311 42 | % if (j == N) 43 | % break 44 | % end 45 | % vx(j) = (x(j+1) - x(j))/t; 46 | % vy(j) = (y(j+1) - y(j))/t; 47 | % vz(j) = (z(j+1) - z(j))/t; 48 | % j = j + 1; 49 | % end 50 | % figure(3) 51 | % subplot(3, 1, 1); 52 | % plot([0: t: 1.3111-t], vx) 53 | % ylabel('VX') 54 | % grid on 55 | % subplot(3, 1, 2); 56 | % plot([0: t: 1.3111-t], vy) 57 | % ylabel('VY') 58 | % grid on 59 | % subplot(3, 1, 3) 60 | % plot([0: t: 1.3111-t], vz) 61 | % ylabel('VZ') 62 | % grid on 63 | 64 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% function [x y z alp beta gama N] = SpaceCircle(S, M, D, S_, D_, ws, a) 2 | S = [0 0.2 0]; 3 | M = [-1.886613719554240;1.583056876251960;2.280400460880988]; 4 | D = [0.25 0.2 0]; 5 | S_ = [0 0 0]; D_ = [0 0 0]; 6 | ws = 10; wa = 5; 7 | vs = 0.01; va = 0.001; 8 | 9 | % [x y z alp beta gama N] = SpaceCircle(S', M', D', S_, D_, ws, wa); 10 | [x y z alp beta gama N] = SpaceLine(S, D, S_, D_, vs, va); 11 | 12 | plot3(x, y, z, '.') 13 | hold on 14 | grid on 15 | plot3(S(1), S(2), S(3), 'g*') 16 | % plot3(M(1), M(2), M(3), 'g*') 17 | plot3(D(1), D(2), D(3), 'g*') 18 | -------------------------------------------------------------------------------- /five_dof/五自由度机械臂.ai: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/xuuyann/RobotLearningCode/470a3c54032cd40236af48a919f000be01bcc23e/five_dof/五自由度机械臂.ai --------------------------------------------------------------------------------