用matlab2022b编写RRR RRP RPR杆组不同连接运动的代码

以下是一个简单的MATLAB代码示例，用于模拟RRR、RRP和RPR杆组不同连接运动：

% 定义杆组长度
L1 = 1;
L2 = 1;
L3 = 1;

% 定义关节角度
theta1 = pi/4;
theta2 = pi/3;
theta3 = pi/6;

% 计算RRR杆组的末端坐标
x_RRR = L1*cos(theta1) + L2*cos(theta1+theta2) + L3*cos(theta1+theta2+theta3);
y_RRR = L1*sin(theta1) + L2*sin(theta1+theta2) + L3*sin(theta1+theta2+theta3);

% 计算RRP杆组的末端坐标
x_RRP = L1*cos(theta1) + L2*cos(theta1+theta2) + L3*cos(theta1+theta3);
y_RRP = L1*sin(theta1) + L2*sin(theta1+theta2) + L3*sin(theta1+theta3);

% 计算RPR杆组的末端坐标
x_RPR = L1*cos(theta1) + L2*cos(theta1+theta3) + L3*cos(theta1+theta2+theta3);
y_RPR = L1*sin(theta1) + L2*sin(theta1+theta3) + L3*sin(theta1+theta2+theta3);

% 绘制结果
figure;
hold on;
plot([0 L1*cos(theta1)],[0 L1*sin(theta1)],'r','LineWidth',2); % 画出第一根杆
plot([L1*cos(theta1) L1*cos(theta1)+L2*cos(theta1+theta2)],[L1*sin(theta1) L1*sin(theta1)+L2*sin(theta1+theta2)],'g','LineWidth',2); % 画出第二根杆
plot([L1*cos(theta1)+L2*cos(theta1+theta2) x_RRR],[L1*sin(theta1)+L2*sin(theta1+theta2) y_RRR],'b','LineWidth',2); % 画出第三根杆
plot(x_RRR,y_RRR,'bo','MarkerSize',8,'MarkerFaceColor','b'); % 画出末端点
axis equal;
title('RRR杆组');
xlabel('x');
ylabel('y');

figure;
hold on;
plot([0 L1*cos(theta1)],[0 L1*sin(theta1)],'r','LineWidth',2); % 画出第一根杆
plot([L1*cos(theta1) L1*cos(theta1)+L2*cos(theta1+theta2)],[L1*sin(theta1) L1*sin(theta1)+L2*sin(theta1+theta2)],'g','LineWidth',2); % 画出第二根杆
plot([L1*cos(theta1)+L2*cos(theta1+theta2) x_RRP],[L1*sin(theta1)+L2*sin(theta1+theta2) y_RRP],'b','LineWidth',2); % 画出第三根杆
plot(x_RRP,y_RRP,'bo','MarkerSize',8,'MarkerFaceColor','b'); % 画出末端点
axis equal;
title('RRP杆组');
xlabel('x');
ylabel('y');

figure;
hold on;
plot([0 L1*cos(theta1)],[0 L1*sin(theta1)],'r','LineWidth',2); % 画出第一根杆
plot([L1*cos(theta1) L1*cos(theta1)+L2*cos(theta1+theta3)],[L1*sin(theta1) L1*sin(theta1)+L2*sin(theta1+theta3)],'g','LineWidth',2); % 画出第二根杆
plot([L1*cos(theta1)+L2*cos(theta1+theta3) x_RPR],[L1*sin(theta1)+L2*sin(theta1+theta3) y_RPR],'b','LineWidth',2); % 画出第三根杆
plot(x_RPR,y_RPR,'bo','MarkerSize',8,'MarkerFaceColor','b'); % 画出末端点
axis equal;
title('RPR杆组');
xlabel('x');
ylabel('y');

请注意，这只是一个示例代码，并且假定所有杆都是直线，关节完全滑动。如果您需要更精确的运动模型，您需要根据您的应用程序进行更多的调整和修改。