www.gusucode.com > 7-DOF Robotic Arm Model in MATLAB工具箱matlab源码 > 7-DOF Robotic Arm Model in MATLAB/Plots.m
%Error in each joint E_1=SP_1-PV_1; E_2=SP_2-PV_2; E_3=SP_3-PV_3; E_4=SP_4-PV_4; E_5=SP_5-PV_5; E_6=SP_6-PV_6; E_7=SP_7-PV_7; %joint 1 figure(1) plot(Time,SP_1,Time,PV_1); title('Joint 1 SP-PV'); xlabel('Time (s)'); ylabel('Position (rad)'); legend('SP','PV','Location','southeast'); figure(2) plot(Time,E_1); title('Joint 1 Error'); xlabel('Time (s)'); ylabel('Error (rad)'); legend('Error','Location','southeast'); %joint 2 figure(3) plot(Time,SP_2,Time,PV_2); title('Joint 2 SP-PV'); xlabel('Time (s)'); ylabel('Position (rad)'); legend('SP','PV','Location','southeast'); figure(4) plot(Time,E_2); title('Joint 2 Error'); xlabel('Time (s)'); ylabel('Error (rad)'); legend('Error','Location','southeast'); %joint 3 figure(5) plot(Time,SP_3,Time,PV_3); title('Joint 3 SP-PV'); xlabel('Time (s)'); ylabel('Position (rad)'); legend('SP','PV','Location','southeast'); figure(6) plot(Time,E_3); title('Joint 3 Error'); xlabel('Time (s)'); ylabel('Error (rad)'); legend('Error','Location','southeast'); %joint 4 figure(7) plot(Time,SP_4,Time,PV_4); title('Joint 4 SP-PV'); xlabel('Time (s)'); ylabel('Position (rad)'); legend('SP','PV','Location','southeast'); figure(8) plot(Time,E_4); title('Joint 4 Error'); xlabel('Time (s)'); ylabel('Error (rad)'); legend('Error','Location','southeast'); %joint 5 figure(9) plot(Time,SP_5,Time,PV_5); title('Joint 5 SP-PV'); xlabel('Time (s)'); ylabel('Position (rad)'); legend('SP','PV','Location','southeast'); figure(10) plot(Time,E_5); title('Joint 5 Error'); xlabel('Time (s)'); ylabel('Error (rad)'); legend('Error','Location','southeast'); %joint 6 figure(11) plot(Time,SP_6,Time,PV_6); title('Joint 6 SP-PV'); xlabel('Time (s)'); ylabel('Position (rad)'); legend('SP','PV','Location','southeast'); figure(12) plot(Time,E_6); title('Joint 6 Error'); xlabel('Time (s)'); ylabel('Error (rad)'); legend('Error','Location','southeast'); %joint 7 figure(13) plot(Time,SP_7,Time,PV_7); title('Joint 7 SP-PV'); xlabel('Time (s)'); ylabel('Position (rad)'); legend('SP','PV','Location','southeast'); figure(14) plot(Time,E_7); title('Joint 7 Error'); xlabel('Time (s)'); ylabel('Error (rad)'); legend('Error','Location','southeast');