Matlab怎么画出delta机器人运动轨迹

以下是一个简单的示例程序，用于绘制delta机器人的运动轨迹：

% 定义机器人参数
L1 = 0.5; L2 = 1.0; L3 = 0.8;
e = 0.1; f = 0.2; re = 0.3; rf = 0.4;

% 定义关节角度范围
theta1_range = linspace(0, 2*pi, 100);
theta2_range = linspace(0, 2*pi, 100);
theta3_range = linspace(0, 2*pi, 100);

% 初始化轨迹数组
X = []; Y = []; Z = [];

% 遍历所有可能的关节角度组合
for theta1 = theta1_range
    for theta2 = theta2_range
        for theta3 = theta3_range
            
            % 计算机器人末端坐标
            [x, y, z] = delta_fk(theta1, theta2, theta3, L1, L2, L3, e, f, re, rf);
            
            % 添加到轨迹数组中
            X = [X x]; Y = [Y y]; Z = [Z z];
            
        end
    end
end

% 绘制轨迹
plot3(X, Y, Z);
grid on;
xlabel('X'); ylabel('Y'); zlabel('Z');
title('Delta机器人运动轨迹');

% 正逆运动学函数
function [x, y, z] = delta_fk(theta1, theta2, theta3, L1, L2, L3, e, f, re, rf)
    sqrt3 = sqrt(3);
    y1 = -(e+f)*sqrt3/2;
    y2 = (e+f)*sqrt3/2;
    y3 = -y2;
    zoffset = -re-rf;
    theta1 = mod(theta1, 2*pi);
    theta2 = mod(theta2, 2*pi);
    theta3 = mod(theta3, 2*pi);
    theta4 = 0;
    theta5 = 0;
    theta6 = 0;
    theta = [theta1; theta2; theta3; theta4; theta5; theta6];
    r = [L1; L2; L3];
    d = [e; f; zoffset];
    a = [-sqrt3/2, 0.5, 0; -sqrt3/2, -0.5, 0; 0, 0, -1];
    b = [0; 0; 0];
    T = delta_fkine(theta, r, d, a, b);
    p = T(1:3,4);
    x = p(1);
    y = p(2);
    z = p(3);
end

function T = delta_fkine(theta, r, d, a, b)
    theta1 = theta(1); theta2 = theta(2); theta3 = theta(3);
    theta4 = theta(4); theta5 = theta(5); theta6 = theta(6);
    c1 = cos(theta1); s1 = sin(theta1);
    c2 = cos(theta2); s2 = sin(theta2);
    c3 = cos(theta3); s3 = sin(theta3);
    c4 = cos(theta4); s4 = sin(theta4);
    c5 = cos(theta5); s5 = sin(theta5);
    c6 = cos(theta6); s6 = sin(theta6);
    T = [c1*c2*c3-s1*s3, -c1*c2*s3-s1*c3, c1*s2, r(1)*c1*c2;
         s1*c2*c3+c1*s3, -s1*c2*s3+c1*c3, s1*s2, r(1)*s1*c2;
         -s2*c3, s2*s3, c2, r(1)*s2+d(1);
         0, 0, 0, 1] * ...
        [c4*c5*c6-s4*s6, -c4*c5*s6-s4*c6, c4*s5, d(2)*c4*c5+r(2)*c4*c5;
         s4*c5*c6+c4*s6, -s4*c5*s6+c4*c6, s4*s5, d(2)*s4*c5+r(2)*s4*c5;
         -s5*c6, s5*s6, c5, -d(2)*s5+r(2)*s5+d(3);
         0, 0, 0, 1] * ...
        [a, b; 0, 0, 0, 1];
end

此示例程序假设有一个三维delta机器人，其参数为$L_1=0.5$、$L_2=1.0$、$L_3=0.8$、$e=0.1$、$f=0.2$、$r_e=0.3$、$r_f=0.4$，并将关节角度范围分别设置为0到$2\pi$之间的100个值。程序遍历所有可能的关节角度组合，计算每个组合对应的机器人末端坐标，并将其添加到轨迹数组中。最后，程序使用Matlab的`plot3`函数绘制出轨迹。