用matlab2022b画出RRR杆组运动

首先，需要明确RRR杆组的运动方程和初始条件，才能用MATLAB进行绘图。假设已知RRR杆组的运动方程和初始条件，可以按照以下步骤进行绘图：

1. 定义RRR杆组的参数，包括杆长、质量、惯性矩等。

2. 定义RRR杆组的初始状态，包括各杆的初始角度、初始角速度等。

3. 使用ODE45函数求解RRR杆组的运动方程，得到各杆的角度随时间的变化。

4. 将各杆的角度转换为笛卡尔坐标系下的位置坐标。

5. 使用plot函数绘制RRR杆组的运动轨迹。

以下是一个简单的RRR杆组运动的MATLAB代码示例：

% 定义RRR杆组的参数
L1 = 1;
L2 = 1.5;
L3 = 0.5;
m1 = 1;
m2 = 2;
m3 = 0.5;
g = 9.8;
I1 = m1 * L1^2 / 12;
I2 = m2 * L2^2 / 12;
I3 = m3 * L3^2 / 12;

% 定义RRR杆组的初始状态
theta1_0 = pi/6;
theta2_0 = pi/4;
theta3_0 = pi/3;
omega1_0 = 0;
omega2_0 = 0;
omega3_0 = 0;
y0 = [theta1_0, theta2_0, theta3_0, omega1_0, omega2_0, omega3_0];

% 定义RRR杆组的运动方程
[t, y] = ode45(@(t, y) rrr_equations(t, y, L1, L2, L3, m1, m2, m3, g, I1, I2, I3), [0, 10], y0);

% 将角度转换为坐标
x1 = L1 * sin(y(:,1));
y1 = L1 * cos(y(:,1));
x2 = x1 + L2 * sin(y(:,2));
y2 = y1 + L2 * cos(y(:,2));
x3 = x2 + L3 * sin(y(:,3));
y3 = y2 + L3 * cos(y(:,3));

% 绘制RRR杆组的运动轨迹
plot(x1, y1, 'r', x2, y2, 'g', x3, y3, 'b');
axis equal;
xlabel('x');
ylabel('y');
legend('link 1', 'link 2', 'link 3');

其中，rrr_equations是一个自定义函数，用于计算RRR杆组的运动方程。该函数的代码如下：

function dy = rrr_equations(t, y, L1, L2, L3, m1, m2, m3, g, I1, I2, I3)

theta1 = y(1);
theta2 = y(2);
theta3 = y(3);
omega1 = y(4);
omega2 = y(5);
omega3 = y(6);

dtheta1 = omega1;
dtheta2 = omega2;
dtheta3 = omega3;

J11 = L1^2/4 + I1/m1;
J22 = L2^2/4 + I2/m2;
J33 = L3^2/4 + I3/m3;
J23 = L2*L3*cos(theta2-theta3)/2;
J13 = L1*L3*cos(theta1-theta3)/2;
J12 = L1*L2*cos(theta1-theta2)/2;

M11 = J11 + J12 + J13 + m2*L1^2 + m3*(L1^2+L3^2+2*L1*L3*cos(theta1-theta3));
M22 = J22 + J12 + J23 + m3*(L2^2+L3^2+2*L2*L3*cos(theta2-theta3));
M33 = J33 + J23 + J13 + m3*L3^2;
M12 = J12 + J23 + m3*L1*L2*cos(theta1-theta2) + m3*L1*L3*cos(theta1-theta3);
M13 = J13 + J23 + m3*L1*L3*cos(theta1-theta3) + m3*L2*L3*cos(theta2-theta3);
M23 = J23 + J22 + m3*L2*L3*cos(theta2-theta3);

C11 = 0;
C22 = 0;
C33 = 0;
C12 = -m3*L1*L2*sin(theta1-theta2)*(2*omega1+omega2+omega3)+m3*L2*L3*sin(theta2-theta3)*(omega3+omega2);
C21 = m3*L1*L2*sin(theta1-theta2)*omega1;
C13 = -m3*L1*L3*sin(theta1-theta3)*(2*omega1+omega2+omega3)-m3*L2*L3*sin(theta2-theta3)*(omega3+omega1);
C31 = m3*L1*L3*sin(theta1-theta3)*omega1;
C23 = m3*L2*L3*sin(theta2-theta3)*omega3;
C32 = -m3*L2*L3*sin(theta2-theta3)*omega2;

G1 = (m1*L1+m2*L1+m3*L1)*g*sin(theta1) + (m3*L3+m2*L2)*g*sin(theta1-theta2+theta3) + m3*L3*g*sin(theta1-theta3);
G2 = (m2*L2+m3*L2)*g*sin(theta2-theta1+theta3) + m3*L3*g*sin(theta2-theta3);
G3 = m3*L3*g*sin(theta3-theta1+theta2);

F1 = 0;
F2 = 0;
F3 = 0;

dy = [dtheta1; dtheta2; dtheta3; (M22*F1-M12*F2-M23*F3-C21*omega1-C22*omega2-C23*omega3-G2-G3)/M11;
    (M13*F1-M33*F2-M23*F3-C31*omega1-C32*omega2-C33*omega3-G3-G1)/M22;
    (M12*F1-M32*F2-M13*F3-C11*omega1-C12*omega2-C13*omega3-G1-G2)/M33];

注意，以上代码仅展示了一个简单的RRR杆组运动的绘图过程，实际情况中需要根据具体的运动方程和初始条件进行适当修改。