gusucode.com > 模糊控制工具箱 fuzzy logic toolbox源码程序 > fuzzy/fuzdemos/invsurf.m
function invsurf %INVSURF plots four surfaces of (x, y) vs (theta1, theta2) which % specify the direct and inverse kinematics of a two-joint % planar robot arm. % % See also INVKINE. % Roger Jang, 3-31-94, 12-23-94 % Copyright 1994-2004 The MathWorks, Inc. % $Revision: 1.7.2.4 $ $Date: 2005/06/27 22:36:45 $ figTitle = 'Two-Joint Planar Robot Arm: Surface Plots'; [flag, figH] = figflag(figTitle); if ~flag figure('Name', figTitle, 'NumberTitle', 'off', 'DockControls', 'off'); else set(gcf, 'color', get(gcf, 'color')); end %======================================================= % The following is for direct kinematicS l1 = 10; l2 = 7; point = 31; bound = [-pi pi;0 pi]; theta1 = linspace(bound(1,1), bound(1,2), point); theta2 = linspace(bound(2,1), bound(2,2), point); x = zeros(length(theta1), length(theta2)); y = zeros(length(theta1), length(theta2)); for i = 1:length(theta1), for j = 1:length(theta2), x(i,j) = l1*cos(theta1(i)) + l2*cos(theta1(i)+theta2(j)); y(i,j) = l1*sin(theta1(i)) + l2*sin(theta1(i)+theta2(j)); end end % The following operations is necessary for correct plot. x = x'; y = y'; subplot(221); mesh(theta1*180/pi, theta2*180/pi, x); set(gca, 'box', 'on'); axis xy; xlabel('q1', 'fontname', 'symbol'); ylabel('q2', 'fontname', 'symbol'); zlabel('x'); title('Direct kinematics: x') axis([bound(1,:)*180/pi bound(2,:)*180/pi min(min(x)) max(max(x))]); view([-20 50]) subplot(222); mesh(theta1*180/pi, theta2*180/pi, y); set(gca, 'box', 'on'); axis xy; xlabel('q1', 'fontname', 'symbol'); ylabel('q2', 'fontname', 'symbol'); zlabel('y'); title('Direct kinematics: y') axis([bound(1,:)*180/pi bound(2,:)*180/pi min(min(y)) max(max(y))]); view([-20 50]) % End of direct kinematics %======================================================= %======================================================= % The following is for inverse kinematics l1 = 10; l2 = 7; point = 21; bound = [-(l1+l2) (l1+l2); -(l1+l2) (l1+l2)]; x = linspace(bound(1,1), bound(1,2), point); y = linspace(bound(2,1), bound(2,2), point); r = linspace(l1-l2, l1+l2, point); theta = linspace(0, 2*pi, 2*point); [r1,theta1] = meshgrid(r, theta); x = r1.*cos(theta1); y = r1.*sin(theta1); th1 = zeros(length(r), length(theta)); th2 = zeros(length(r), length(theta)); for i = 1:length(r), for j = 1:length(theta), xx = r(i)*cos(theta(j)); yy = r(i)*sin(theta(j)); c2 = (xx^2 + yy^2 - l1^2 - l2^2)/(2*l1*l2); c2 = min(max(c2, -1), 1); s2 = sqrt(1 - c2^2); th2(i, j) = atan2(s2, c2); k1 = l1 + l2*c2; k2 = l2*s2; th1(i, j) = atan2(yy, xx) - atan2(k2, k1); % tmp1 = l1*cos(th1(i,j)); % tmp2 = l2*sin(th1(i,j)); % th1(i, j) = tmp1; % th2(i, j) = tmp2; if abs(c2) > 1; th1(i, j) = nan; th2(i, j) = nan; end end end % The following operations is necessary for correct plot. th1 = th1'; th2 = th2'; subplot(223); th1 = th1*180/pi; mesh(x, y, th1); set(gca, 'box', 'on'); axis xy; xlabel('x'); ylabel('y'); zlabel('q1', 'fontname', 'symbol'); title('Inverse kinematics: theta1') tmp = th1; index = find(isnan(tmp)); tmp(index) = zeros(size(index)); axis([bound(1,:) bound(2,:) min(min(tmp)) max(max(tmp))]); view([-20 50]) subplot(224); th2 = th2*180/pi; mesh(x, y, th2); set(gca, 'box', 'on'); axis xy; xlabel('x'); ylabel('y'); zlabel('q2', 'fontname', 'symbol'); title('Inverse kinematics: theta2') tmp = th2; index = find(isnan(tmp)); tmp(index) = zeros(size(index)); axis([bound(1,:) bound(2,:) min(min(tmp)) max(max(tmp))]); view([-20 50]) % End of inverse kinematics %=======================================================