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', [180du, 365du], 'offset', 0, 'modified'); L1(2) = Link('d', 0+0.001+dd, 'a', 185+0.0079, 'alpha', 0+0.001, 'qlim', [3du, 63du], 'offset', 0, 'modified'); L1(3) = Link('d', 90+0.005+dd, 'a', 0+0.005+da, 'alpha', pi/2+0.005+dalpha, 'qlim', [60du, 120du], 'offset', pi/2, 'modified'); L1(4) = Link('theta', 0+dtheta, 'a', 120+0.12, 'alpha', pi/2, 'qlim', [230du, 326du], '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_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)]);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

syms x; syms y; syms a; syms b; syms c; x0=-pi/4;x1=pi/4; y0=-tan(c)tan(23.43pi/180); y1=tan(c)tan(23.43pi/180); fun1 = sin(c)(sin(x)-xcos(x))/(cos(x)^2+tan(c)^2)^0.5 fun2 = (0.506-0.476cos(y))sin(x-1/3pi)+0.6609cos(y)+0.409 fun3 = (cos(y)-cos(x))/(sin(x)-2pi/360x*cos(x)) fun41 = sin(c)(cos(y)-cos(x))/(cos(x)^2+tan(c)^2)^0.5 fun42 = 2asin(fun41)-2a-b fun4 = 0.5cos(fun42)+0.5cos(a+b) f = fun1fun2fun3fun4 gongshi=int(f,y,y0,y1) jieguo=int(gongshi,x,x0,x1)

y0=-tan(c)*tan(23.43*pi/180); y1=tan(c)*tan(23.43*pi/180); fun1 = sin(c)*(sin(x)-x*cos(x))/(cos(x)^2+tan(c)^2)^0.5; fun2 = (0.506-0.476*cos(y))*sin(x-1/3*pi)+0.6609*cos(y)+0.409; fun3 = (cos(y)-cos(x)...

clear syms z a=2;q=50; d_theta=0:2pi/2000:2pi; rou=q/(2pia); epsilon=8.854e-12; dE(d_theta)=arou.d_theta.z./(4piepsilon.((a.^2+z.^2).^(3/2))); E=int(dE,d_theta,0,2*pi);

这段代码存在一些问题，需要进行修改： 1. clear syms 是多余的，可以删除。...E = int(sym(dE), theta, 0, 2*pi); 在这个过程中，我们需要将 dE 转换成符号表达式，即使用 sym 函数将其包装成符号对象。

syms x y f = @(x,y) x*cos(x+y); xmin = 0; xmax = pi; ymin = 0; ymax = @(x) x; result = dblquad(f,xmin,xmax,ymin,ymax) 的结果是多少

其中 $R$ 的边界由 $x=0$，$x=\pi$ 和 $y=x$ 给出。因此，我们可以把 $y$ 的积分限写成函数的形式，即 $y_{\min}=0$ 和 $y_{\max}(x)=x$。然后，我们可以使用 dblquad 函数来计算积分的近似值，代码如下： ...

syms x y f = @(x,y) x*cos(x+y); xmin = 0; xmax = pi; ymin = 0; ymax = @(x) x; result = integral2(f,xmin,xmax,ymin,ymax) 的结果是多少

syms x y f = @(x,y) x*cos(x+y); xmin = 0; xmax = pi; ymin = 0; ymax = @(x) x; result = integral2(f,xmin,xmax,ymin,ymax) 计算结果为： result = 0.25*pi^2 因此，该表达式的结果为 0.25π²。...

clc;clear;close all syms x y=300/pilog(abs(sec(pix/300)));%悬链线方程 dy=diff(y,1);%求导 x=linspace(-112.6,112.6,564); b=300/pilog(abs(sec(pix/300))); k1=eval(dy);%切线斜率 x0=x;y0=b; syms x y=k1.(x-x0)+y0;%切线方程 k2=-1./k1; syms x y=k2.(x-x0)+y0;%法线方程 syms x y=300/pilog(abs(sec(pix/300)))+30; for ii=1:564 m=x0(ii);n=y0(ii);k=k2(ii); syms x y k m n [x,y]=solve('k.(x-m))-y+n=0','300/pilog(abs(sec(pi*x/300)))+30-y=0'); p(ii) = sqrt((x-m)^2 + (y-n)^2); end

[x, y] = solve(k.*(x-m)-y+n, 300/pi*log(abs(sec(pi*x/300)))+30-y); p = sqrt((x-m).^2 + (y-n).^2); 4. 对于符号计算，可以使用vpa函数将结果转换为数值类型，例如： y = vpa(300/pi*log(abs(sec(pi...

syms cin syms A [B,A]=dsolve('cinDB=P-(B-A)R1','wallDA=(B-A)/R1-(A-C)/R2','B(0)=5','A(0)=0','t')

这个问题描述了一个简单的电路模型，其中有两个电容器 C 和 B，两个电阻 R1 和 R2，一个电源 P，以及一个初始电容电压为 0 的电容器 A。具体来说，我们求解了以下两个微分方程： $$ \frac{d(B-A)}{dt} = P - (B-A...

解释以下代码u1 = 0; syms a1 a2 a3 a4; eqn = u1 == u30_1 + 3a1u21_1 + 3a1^2u12_1 + a1^3*u03_1; eqn = subs(eqn, u1, 0); a1 = solve(eqn, a1);

接下来，我们使用符号计算库syms，声明a1、a2、a3、a4为符号变量，并将上述方程中的u1用0代替，得到一个只含有符号变量的方程。然后，我们使用solve函数解出a1的值，使得方程成立。最后，将a1的值代入原多项式函数中...

lab=6; lae=6; lbf=6; lfd=3; lfg=3; lge=3; led=3; w=0.1; syms t; theta1=wt; du=180/pi; hd=pi/180; leb=sqrt(lae^2+lab^2-2laelabcos(theta1)); fai1=90hd-theta1/2; fai2=acos(leb/lbf); fai3=fai1-fai2; theta2=pi-fai3; xe=laecos(theta1); ye=laesin(theta1); xb=lab; yb=0; xf=lab+lbfcos(theta2); yf=lbfsin(theta2); xd=(xf+xb)/2; yd=(yf+yb)/2; theta3=acos((xe-xd)/lfg); xg=xe+lgecos(theta3); yg=ye+lgesin(theta3); theta2v=diff(theta2); theta2a=diff(theta2v); theta3v=diff(theta3); theta3a=diff(theta3v); m=0:0.01:9.3; theta2=subs(theta2,t,m); theta2v=subs(theta2v,t,m); theta2a=subs(theta2a,t,m); theta3=subs(theta2,t,m); theta3v=subs(theta2v,t,m); theta3a=subs(theta2a,t,m); theta2du=theta2du; theta3du=theta3*du; figure(1);%figure 是建立图形的意思。系统自动从 1，2，3，4 来建立图形，数字代表第几幅图形 subplot(2,3,1) plot(m,theta2v,'k'); title('角2')%设置图形标题为。 xlabel('时间')%设置 x 轴标签 ylabel('位移') grid on ;%显示坐标轴网格线，grid off 则关闭坐标轴网格线 hold on;%hold on 是当前轴及图像保持而不被刷新，准备接受此后将绘制的图形，多图共存。hold off（默认）则相反 subplot(2,3,4) plot(m,theta3v,'k'); title('角3')%设置图形标题为。 xlabel('时间')%设置 x 轴标签 ylabel('位移') grid on ;%显示坐标轴网格线，grid off 则关闭坐标轴网格线 hold on;%hold on 是当前轴及图像保持而不被刷新，准备接受此后将绘制的图形，多图共存。hold off（默认）则相反

这段代码是用来绘制角度2和角度3随时间的变曲线的。其中，角度2和角度3分存储在变量theta2和theta3。通过使用subplot函数，将两个图分别绘制在第行第1列和2行第1列的位置。在每个图形中，使用plot函数将时间m作为x轴...

clc;clear; tic syms x y=300/pilog(abs(sec(pix/300)));%悬链线方程 dy=diff(y,1);%求导 x=linspace(-112.6,112.6,564); b=300/pilog(abs(sec(pix/300))); k1 = eval(dy); x0 = x; y0 = b; k2 = -1./k1; syms x y y=k2.(x-x0)+y0;%法线方程 m = x0.'; n = y0.'; k = k2.'; [x, y] = solve(k.(x-m)-y+n, 300/pilog(abs(sec(pix/300)))+30-y); p = sqrt((x-m).^2 + (y-n).^2); toc

其中，syms x y 声明了 x 和 y 为符号变量，y=300/pi*log(abs(sec(pi*x/300))) 计算了悬链线的方程，dy=diff(y,1) 对 y 求导，x=linspace(-112.6,112.6,564) 生成了一系列 x 值，b=300/pi*log(abs(sec(pi*x/300))) ...

syms x y m1_m0 k1_k0 eq=1/m1_m0y.^4+(2/k1_k0(cos(x)-1)-(1/m1_m0+1))y.^2+2/k1_k0(1-cos(x)); s=solve(eq,y); x=-pi:0.01:pi; m0=0.1;m1=0.2;k0=1e5;k1=2*1e5; %m1k1:basic m2k2:mass m1_m0=m1/m0;k1_k0=k1/k0; s1=subs(s); s2=double(s1); w1=sqrt(k1/m1)/2; figure(6);subplot(1,2,1); for ii=1:4 if s2(ii,1)>0 h1=plot(x,s2(ii,:),'-.','LineWidth',2,'Color','b');hold on; end end xlim([0,pi]); ylim([0,4]); xlabel('Re(qL)');ylabel('Frequency');

k1_k0=k1/k0; s1=subs(s); s2=double(s1); w1=sqrt(k1/m1)/2; figure(6); subplot(1,2,1); for ii=1:4 if s2(ii,1)>0 h1=plot(x_norm,s2(ii,:),'-.','LineWidth',2,'Color','b');hold on; end end xlim([0,1]); ...

给以下代码加功能输出w1与x的函数图像：clear all; clc; L1 = 50; L2 = 5; L3 = 38; L4 = 4; L5 = 2.3; L6 = 13.7; q2 = 22.7e6; ky2 = 3e9; k1 = 10e9; k2 = 4.7e9; k3 = 9e9; E = 22e9; I = 39.2; alpha = 4sqrt((ky2)/(4EI)); beta = 4sqrt((k3)/(4EI)); lamda = 4sqrt((k2)/(4E*I)); syms A1 B1 C1 D1 x w1(x) =(q2/ky2)+ exp(-alphax).(A1cos(alphax)+B1sin(alphax))+exp(alphax).(C1cos(alphax)+D1sin(alphax)); dw1(x) = diff(w1,x); ddw1(x) = diff(dw1,x,2); dddw1(x) = diff(ddw1,x,3); eq1 = w1(0)==0; eq2 = dw1(0)==0; eq3 = ddw1(L1)==0; eq4 = dddw1(L1)==0; s = solve(eq1,eq2,eq3,eq4);

eq4 = dddw1(L1)==0; s = solve(eq1,eq2,eq3,eq4); % 定义 x 范围 x_range = linspace(0, L1, 1000); % 计算 w1(x) w1_values = subs(w1, A1, s.A1); w1_values = subs(w1_values, B1, s.B1); w1_values = subs...

cs=19; sg=98; derta=10; du=180/pi; w=0.1du; l0=80; syms t alpha=wt+46; y=1/2l0cos(alpha); theta=(sqrt(2)(y-cssqrt(1/2))/sg); x=cssqrt(1/2)+sgcos(theta)sqrt(1/2); z=derta+sgsin(theta); figure(1);%figure 是建立图形的意思。系统自动从 1，2，3，4 来建立图形，数字代表第几幅图形 t=1:0.01:4;%建立一个行向量 plot(t,x,'k'); title('x位移线图')%设置图形标题为。 xlabel('时间')%设置 x 轴标签 ylabel('位移') grid on ;%显示坐标轴网格线，grid off 则关闭坐标轴网格线 hold on;%hold on 是当前轴及图像保持而不被刷新，准备接受此后将绘制的图形，多图共存。hold off（默认）则相反

l0=80; w=0.1*180/pi; syms t alpha=w*t+46; y=1/2*l0*cos(alpha); theta=(sqrt(2)*(y-cs*sqrt(1/2))/sg); x=cs*sqrt(1/2)+sg*cos(theta)*sqrt(1/2); figure(1); t=1:0.01:4; plot(t,x,'k'); title('x位移线图') ...

linux基础进阶笔记

linux基础进阶笔记，配套视频：https://www.bilibili.com/list/474327672?sid=4493093&spm_id_from=333.999.0.0&desc=1

IMG20241115211541.jpg

Sen2_ARI_median.txt

GEE训练教程——Landsat5、8和Sentinel-2、DEM和各2哦想指数下载

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);

相关推荐

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);

相关推荐

Matlab 求解线性方程组 Ax=b 的几种常见方法

chrome版本116.0.5845.180 chromedriver-win32

Fourier-Motzkin Elimination：Fourier-Motzkin 消除不等式系统 (A*x <= b)。-matlab开发

clear syms z a=2;q=50; d_theta=0:2*pi/2000:2*pi; rou=q/(2*pi*a); epsilon=8.854e-12; dE(d_theta)=a*rou.*d_theta.*z./(4*pi*epsilon.*((a.^2+z.^2).^(3/2))); E=int(dE,d_theta,0,2*pi);

syms x y f = @(x,y) x*cos(x+y); xmin = 0; xmax = pi; ymin = 0; ymax = @(x) x; result = dblquad(f,xmin,xmax,ymin,ymax) 的结果是多少

syms x y f = @(x,y) x*cos(x+y); xmin = 0; xmax = pi; ymin = 0; ymax = @(x) x; result = integral2(f,xmin,xmax,ymin,ymax) 的结果是多少

syms cin syms A [B,A]=dsolve('cinDB=P-(B-A)R1','wallDA=(B-A)/R1-(A-C)/R2','B(0)=5','A(0)=0','t')

解释以下代码u1 = 0; syms a1 a2 a3 a4; eqn = u1 == u30_1 + 3*a1*u21_1 + 3*a1^2*u12_1 + a1^3*u03_1; eqn = subs(eqn, u1, 0); a1 = solve(eqn, a1);

linux基础进阶笔记

IMG20241115211541.jpg

Sen2_ARI_median.txt

最新推荐

linux基础进阶笔记

IMG20241115211541.jpg

Sen2_ARI_median.txt

毕业设计&课设_基于 flask-whoosh-jieba 的代码，涉及文件管理及问题修复.zip

全国江河水系图层shp文件包下载

管理建模和仿真的文件

Keras模型压缩与优化：减小模型尺寸与提升推理速度

MTK 6229 BB芯片在手机中有哪些核心功能，OTG支持、Wi-Fi支持和RTC晶振是如何实现的？

点云二值化测试数据集的详细解读

"互动学习：行动中的多样性与论文攻读经历"

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);

clear syms z a=2;q=50; d_theta=0:2pi/2000:2pi; rou=q/(2pia); epsilon=8.854e-12; dE(d_theta)=arou.d_theta.z./(4piepsilon.((a.^2+z.^2).^(3/2))); E=int(dE,d_theta,0,2*pi);

解释以下代码u1 = 0; syms a1 a2 a3 a4; eqn = u1 == u30_1 + 3a1u21_1 + 3a1^2u12_1 + a1^3*u03_1; eqn = subs(eqn, u1, 0); a1 = solve(eqn, a1);