www.gusucode.com > matlab编程求解机器人的正逆解 采用遗传算法对机器人进行路径规划源码程序 > code/基本代码/Initialization.m
%此程序为参数初始化程序 Alpha = [90 90 0 0 90 90 90]; A = [0 0 2.5 2.5 0 0 0]; d = 0.25*ones(1,7); I = cell(1,7); Coordinate_Ter = cell(1,7); %惯性张量初始化 I_sat = diag([30 28 32]); I{1} = diag([0.15 0.15 0.075]); I{2} = I{1}; I{3} = 2*I{1}; I{4} = I{3}; I{5} = I{1}; I{6} = I{1}; I{7} = I{1}; I_sum = I_sat+I{1}+I{2}+I{3}+I{4}+I{5}+I{6}+I{7}; %质量初始化 m_sat = 400; m = [4 4 6 6 4 4 40]; %各刚体质心在连体坐标系下的坐标 for i = 1:7 Coordinate_Ter{i} = [0,0,0,1]'; end Coordinate_Ter{3} = [-1.25,0,0,1]'; Coordinate_Ter{4} = [-1.25,0,0,1]';