29 lines
1.3 KiB
Mathematica
29 lines
1.3 KiB
Mathematica
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function [rotInfo] = calculateArmRot(dynamicBasicInfo,theta)
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% 计算机器人各个轴臂的姿态，四元素/旋转矩阵...
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% dynamicBasicInfo: PSA机械臂的基本信息
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% setupInfo: SUA(setup arm)状态，各个轴的角度等 []
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% state:系统动力学的状态变量
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% 假设：关节变形和柔性体变形都是小量，忽略其对姿态的影响
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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rotInfo = struct;
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temp = struct;
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temp.rot = eye(3);
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temp.rotTran = eye(3);
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rotInfo.link = ([temp temp temp temp temp temp temp temp temp]);
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rotInfo.motor = ([temp temp temp temp temp temp temp temp temp]);
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rotInfo.link(1).rot = rot(dynamicBasicInfo.link(1).jointAxis,theta(1));
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rotInfo.link(1).rotTran = rotInfo.link(1).rot';
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rotInfo.motor(1).rot = rotInfo.link(1).rot;
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rotInfo.motor(1).rotTran = rotInfo.motor(1).rot';
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for i=2:9
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if dynamicBasicInfo.link(i).jointAxis>3
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rotInfo.link(i).rot = rotInfo.link(i-1).rot*rot(dynamicBasicInfo.link(i).jointAxis-3,theta(i));
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else
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rotInfo.link(i).rot = rotInfo.link(i-1).rot;
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end
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rotInfo.link(i).rotTran = rotInfo.link(i).rot';
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rotInfo.motor(i).rot = rotInfo.link(i).rot;
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rotInfo.motor(i).rotTran = rotInfo.motor(i).rot';
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end
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