delta機(jī)械手運(yùn)動(dòng)學(xué)反解代碼

1、%delta機(jī)械手運(yùn)動(dòng)學(xué)正解代碼機(jī)械手運(yùn)動(dòng)學(xué)正解代碼symsxyzLa=0.2Lb=0.6R=0.348r=0.1068o1=input(請(qǐng)輸入弧度制角o1=)o2=input(請(qǐng)輸入弧度制角o1=)o3=input(請(qǐng)輸入弧度制角o3=)eq1=(RrLacos(o1)x)^2y^2(Lasin(o1)z)^2Lb^2eq2=(12(RrLacos(o2))x)^2(12sqrt(3)(RrLacos(o2))y)^2(Lasin(o

2、2)z)^2Lb^2eq3=(12(RrLacos(o3))x)^2(12sqrt(3)(RrLacos(o3))y)^2(Lasin(o3)z)^2Lb^2[xyz]=solve(eq1eq2eq3)x=vpa(x5)y=vpa(y5)z=vpa(z5)fi=1:2z(i)ifz(i)0ans=[x(i)y(i)z(i)]elsedisp()endendans=vpa(ans5)ifans(1).^2ans(2).^2ans(3).^

3、210000000ans=[ans(1)ans(2)ans(3)]elsedisp(noanswer!)endans=vpa(ans5)%注解：坐標(biāo)位置的控制是精度控制之一fi=1:2ifabs(b(i))pi2y=o(i)elsedisp()endendfi=1:2ifabs(c(i))pi2z=o(i)elsedisp()endend%數(shù)值計(jì)算法求積分方程的特解和()=?|?()|()=∫40()t=0.05t=0:dt:4Ft=e