syms da dalpha dd dtheta dbeta; da = 0; dalpha = 0; dd = 0; dtheta = 0; dbeta = 0; du = pi/180; L1(1) = Link('theta', 90*du+0.02+dtheta, 'a', 0+0.001+da, 'alpha', 0+0.003+dalpha, 'qlim', [180*du, 365*du], 'offset', 0, 'modified'); L1(2) = Link('d', 0+0.001+dd, 'a', 185+0.0079, 'alpha', 0+0.001, 'qlim', [3*du, 63*du], 'offset', 0, 'modified'); L1(3) = Link('d', 90+0.005+dd, 'a', 0+0.005+da, 'alpha', pi/2+0.005+dalpha, 'qlim', [60*du, 120*du], 'offset', pi/2, 'modified'); L1(4) = Link('theta', 0+dtheta, 'a', 120+0.12, 'alpha', pi/2, 'qlim', [230*du, 326*du], 'offset', 0, 'modified'); L1(3).theta = L1(3).theta + 0.023 + dtheta; L1(4).theta = L1(4).theta + 0.08 + dtheta; Needle = SerialLink(L1, 'name', 'Needle'); theta1 = 0.1; theta2 = 0.2; theta3 = 0.3; theta4 = 0.4; T01_error = DH(L1(1).theta+dtheta, L1(1).a+da, L1(1).d+dd, L1(1).alpha+dalpha); T12_error = DH(L1(2).theta+dtheta, L1(2).a+da, L1(2).d+dd, L1(2).alpha+dalpha); T23_error = DH(L1(3).theta+dtheta, L1(3).a+da, L1(3).d+dd, L1(3).alpha+dalpha); T34_error = DH(L1(4).theta+dtheta, L1(4).a+da, L1(4).d+dd, L1(4).alpha+dalpha); T_error = simplify(T01_error*T12_error*T23_error*T34_error); T = Needle.fkine([theta1, theta2, theta3, theta4]); T_error = subs(T_error, [theta1, theta2, theta3, theta4], [L1(1).theta, L1(2).theta, L1(3).theta, L1(4).theta]); T_total = T*T_error; dx = T_total(1, 4); dy = T_total(2, 4); dz = T_total(3, 4); rx = atan2(T_total(3, 2), T_total(3, 3)); ry = atan2(-T_total(3, 1), sqrt(T_total(3, 2)^2 + T_total(3, 3)^2)); rz = atan2(T_total(2, 1), T_total(1, 1)); disp(['dx = ', num2str(dx)]); disp(['dy = ', num2str(dy)]); disp(['dz = ', num2str(dz)]); disp(['rx = ', num2str(rx)]); disp(['ry = ', num2str(ry)]); disp(['rz = ', num2str(rz)]);这段代码运行不出来，显示DH未定义，该怎么操作修改让这段MATLAB代码能够运行出来

这段代码中调用了DH函数，但是DH函数未定义，需要先在MATLAB中定义该函数。DH函数通常用于建立机械臂各个关节的变换矩阵，其定义如下：

function T = DH(theta, d, a, alpha)
T = [cos(theta) -sin(theta)*cos(alpha) sin(theta)*sin(alpha) a*cos(theta);
sin(theta) cos(theta)*cos(alpha) -cos(theta)*sin(alpha) a*sin(theta);
0 sin(alpha) cos(alpha) d;
0 0 0 1];
end

将该函数添加到代码文件中即可运行代码。

相关问题

syms da dalpha dd dtheta dbeta; da = 0; dalpha = 0; dd = 0; dtheta = 0; dbeta = 0; du = pi/180; L1(1) = Link('theta', 90du+0.02+dtheta, 'a', 0+0.001+da, 'alpha', 0+0.003+dalpha, 'qlim', [180, 365], 'modified'); L1(2) = Link('d', 0+0.001+dd, 'a', 185+0.0079, 'alpha', 0+0.001, 'qlim', [3du, 63du], 'modified'); L1(3) = Link('d', 90+0.005+dd, 'a', 0+0.005+da, 'alpha', pi/2+0.005+dalpha, 'qlim', [60du, 120du], 'modified'); L1(4) = Link('theta', 0+dtheta, 'a', 120+0.12, 'alpha', pi/2, 'qlim', [230, 326], 'modified'); L1(3).theta = L1(3).theta + 0.023 + dtheta; L1(4).theta = L1(4).theta + 0.08 + dtheta; Needle = SerialLink(L1, 'name', 'Needle'); theta1 = 0.1; theta2 = 0.2; theta3 = 0.3; theta4 = 0.4; T01_error = DH(L1(1).theta+dtheta, L1(1).d+dd, L1(1).a+da, L1(1).alpha+dalpha); T12_error = dh(L1(2).theta+dtheta, L1(2).d+dd, L1(2).a+da, L1(2).alpha+dalpha); T23_error = dh(L1(3).theta+dtheta, L1(3).d+dd, L1(3).a+da, L1(3).alpha+dalpha); T34_error = dh(L1(4).theta+dtheta, L1(4).d+dd, L1(4).a+da, L1(4).alpha+dalpha); T_error = simplify(T01_errorT12_errorT23_errorT34_error); T = Needle.fkine([theta1, theta2, theta3, theta4]); T_error = subs(T_error, [theta1, theta2, theta3, theta4], [L1(1).theta, L1(2).theta, L1(3).theta, L1(4).theta]); T_total = T*T_error; dx = T_total(1, 4); dy = T_total(2, 4); dz = T_total(3, 4); rx = atan2(T_total(3, 2), T_total(3, 3)); ry = atan2(-T_total(3, 1), sqrt(T_total(3, 2)^2 + T_total(3, 3)^2)); rz = atan2(T_total(2, 1), T_total(1, 1)); disp(['dx = ', num2str(dx)]); disp(['dy = ', num2str(dy)]); disp(['dz = ', num2str(dz)]); disp(['rx = ', num2str(rx)]); disp(['ry = ', num2str(ry)]); disp(['rz = ', num2str(rz)]);代码运行不出来说dh没有定义

这段代码中确实没有定义dh函数，可能是代码作者在其他地方定义了dh函数，或者是拼写错误。

如果你想让代码运行起来，可以尝试将dh函数替换成DH函数，因为DH函数在代码中已经定义了。你只需要将dh改为DH即可，例如：

T12_error = DH(L1(2).theta+dtheta, L1(2).d+dd, L1(2).a+da, L1(2).alpha+dalpha);

另外，你还需要将T01_errorT12_errorT23_errorT34_error修改为T01_error*T12_error*T23_error*T34_error，因为这是四个变换矩阵的乘积。

优化程序 syms x y ; eq1 = y == k2.*(x - x0) + y0; eq2 = y == 300/pi.*log(abs(sec(pi*x/300))) + 30; sol = solve([eq1, eq2], [x, y]); % k2_val = k2; % x0_val = x; % y0_val = b; sol.x = subs(sol.x, [k2, x0, y0], [k2, x0, y0]); sol.y = subs(sol.y, [k2, x0, y0], [k2, x0, y0]); disp(sol);

这段程序的目的是求解两个方程组成的方程组。第一个方程是 $y=k_2\cdot(x-x_0)+y_0$，第二个方程是 $y=\frac{300}{\pi}\cdot\log|\sec\frac{\pi x}{300}|+30$。程序中使用了 MATLAB 中的 solve 函数来求解方程组，并将解赋值给 sol 变量。同时，注释掉了一些不必要的代码。