www.gusucode.com > 模糊控制工具箱 fuzzy logic toolbox源码程序 > fuzzy/fuzdemos/traininv.m
%TRAININV % Data generation script for the inverse kinematics demo % - Data generation through direct kinematics % - Data generation through inverse kinematics % % Code is written in unvectorized form for understandability. Refer the % demo for the vectorized version of the code. % % J.-S. Roger Jang, 6-28-94. % Madan Bharadwaj, 6-20-05 % Copyright 1994-2005 The MathWorks, Inc. % $Revision: 1.8.2.1.2.1 $ $Date: 2005/07/17 06:06:21 $ %%%%%%%%%%%%%%%%%%%%%%%%%%%% % DIRECT KINEMATICS %%%%%%%%%%%%%%%%%%%%%%%%%%%% % Deducing x and y coordinates using direct kinematics formulae % x = f(theta1, theta2) % y = g(theta1, theta2) l1 = 10; % length of first arm l2 = 7; % length of second arm theta1 = 0:0.1:pi/2; % some first angle theta2 = 0:0.1:pi; % some second angle data1 = []; data2 = []; for i=1:1:length(theta1) for j=1:1:length(theta2) x = l1 * cos(theta1(i)) + l2 * cos(theta1(i)+theta2(j)); % x coordinate y = l1 * sin(theta1(i)) + l2 * sin(theta1(i)+theta2(j)); % y coordinate data2 = [data1; x y theta1(i)]; data2 = [data2; x y theta2(j)]; end end %%%%%%%%%%%%%%%%%%%%%%%%%% % INVERSE KINEMATICS %%%%%%%%%%%%%%%%%%%%%%%%%% % Deducing theta1 and theta2 from x and y coordinates using inverse % kinematics formulae % theta1 = f(x, y) % theta2 = g(x, y) l1 = 10; % length of first arm l2 = 7; % length of second arm X = 0:0.1:2; % x coordinates for validation Y = 8:0.1:10; % y coordinates for validation theta1D = []; theta2D = []; xy = []; for i = 1:1:length(X) for j = 1:1:length(Y) x = X(i); y = Y(j); c2 = (x^2 + y^2 - l1^2 - l2^2)/(2*l1*l2); s2 = sqrt(1 - c2^2); theta2 = atan2(s2, c2); % theta2 is deduced k1 = l1 + l2*c2; k2 = l2*s2; theta1 = atan2(y, x) - atan2(k2, k1); % theta1 is deduced theta1D = [theta1D; theta1]; % save theta1 theta2D = [theta2D; theta2]; % save theta2 xy = [xy; x y]; % save x-y coordinates end end