3rps并联机构工作空间matlab代码

以下是一个基于MATLAB的3RPS并联机构工作空间计算代码示例：

% 3RPS并联机构工作空间计算
% 机构参数
l1 = 1; l2 = 1; l3 = 1;
% 步长
step = 0.1;
% 定义工作空间范围
x_min = -2; x_max = 2;
y_min = -2; y_max = 2;
z_min = -2; z_max = 2;
% 初始化点云数据
pc = pointCloud(zeros(1,3));
% 进行循环计算
for x = x_min:step:x_max
    for y = y_min:step:y_max
        for z = z_min:step:z_max
            % 计算末端执行器位姿
            T = [cos(y)*cos(z) -cos(y)*sin(z) sin(y) x;
                cos(x)*sin(z)+cos(z)*sin(x)*sin(y) cos(x)*cos(z)-sin(x)*sin(y)*sin(z) -cos(y)*sin(x) y;
                sin(x)*sin(z)-cos(x)*cos(z)*sin(y) cos(z)*sin(x)+cos(x)*sin(y)*sin(z) cos(x)*cos(y) z;
                0 0 0 1];
            % 逆运动学解析求解
            theta1 = atan2(T(2,4)-l3*T(1,3),T(1,4)+l3*T(2,3));
            theta3 = acos((T(1,4)*cos(theta1)+T(2,4)*sin(theta1)-l1)^2+(T(3,4)-l2)^2-l3^2)/(2*l1*l3);
            theta2 = atan2(T(3,4)-l2,-(T(1,4)*cos(theta1)+T(2,4)*sin(theta1)-l1)/l3);
            % 机构正解求解
            p = [l1*cos(theta1)+l3*cos(theta1+theta3);
                 l1*sin(theta1)+l3*sin(theta1+theta3);
                 l2-l3*sin(theta2)];
            % 将计算得到的点添加到点云数据中
            pc = pcmerge(pc,pointCloud(p'));
        end
    end
end
% 可视化工作空间点云数据
figure; pcshow(pc); xlabel('X'); ylabel('Y'); zlabel('Z');

注意：此代码仅提供参考，具体的工作空间计算需要根据实际机构参数进行调整。