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/transform.m

    
syms theta1;
syms theta2;
syms theta3;
syms theta4;
syms theta5;
syms theta6;
syms theta7;
Theta = cell(1,7);

digits(3)

Theta{1} = CD_Trans(0,0.25,theta1,pi/2);
Theta{2} = CD_Trans(0,0.25,theta2,pi/2);
Theta{3} = CD_Trans(2.5,0.25,theta3,0);
Theta{4} = CD_Trans(2.5,0.25,theta4,0);
Theta{5} = CD_Trans(0,0.25,theta5,pi/2);
Theta{6} = CD_Trans(0,0.25,theta6,pi/2);
Theta{7} = CD_Trans(0,0.25,theta7,pi/2);

Transform = eye(4);

for i=1:7
Transform = Transform*Theta{i};
Theta{i} = vpa(Theta{i},2);
end
Transform = vpa(Transform,2);