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]';