syms theta1 theta2 theta3 T01 = [cos(theta1) -sin(theta1) 0 0 ; sin(theta1) cos(theta1) 0 0 ; 0 0 1 0; 0 0 0 1]; T12 = [cos(theta2) -sin(theta2) 0 4 ; sin(theta2) cos(theta2) 0 0 ; 0 0 1 0; 0 0 0 1]; T23 = [cos(theta3) -sin(theta3) 0 3 ; sin(theta3) cos(theta3) 0 0 ; 0 0 1 0; 0 0 0 1]; T3H = [1 0 0 2 ; 0 1 0 0 ; 0 0 1 0; 0 0 0 1]; T03 = T01 * T12 * T23; T0H = T03 * T3H; T03 = simplify(T03); % 运算结果经三角运算简写成（theta1+theta2+theta3）形式 T0H = simplify(T0H); % MATLAB计算正向运动学求解 % i) theta1 = 0 ；theta2 = 0 ；theta3 = 0 theta1 = 0; theta2 = 0; theta3 = 0; T03 T0H这是我写的一段程序，请问为什么运行后输出的T03和T0H都还是表达式，而不是计算得到的数值结果？我应该怎么改代码是喔可以先输出T03的表达式，然后给theta1、theta2、theta3赋值后又能输出T03的计算结果呢？

你的程序中使用了符号变量 `theta1`、`theta2`、`theta3`，因此 `T03` 和 `T0H` 的输出结果是符号表达式，而非数值结果。如果你想要得到数值结果，需要使用 `subs` 函数将符号变量替换为具体数值，例如：

% 先输出T03的表达式
T03

% 给theta1、theta2、theta3赋值
theta1 = 0;
theta2 = 0;
theta3 = 0;

% 计算T03的数值结果
T03_value = subs(T03)

% 计算T0H的数值结果
T0H_value = subs(T0H)

在上面的代码中，我们先输出了 `T03` 的表达式，然后将 `theta1`、`theta2`、`theta3` 赋值为 0，最后使用 `subs` 函数将符号变量替换为具体数值，得到 `T03` 和 `T0H` 的数值结果 `T03_value` 和 `T0H_value`。

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', 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 = myDH(L1(1).theta+dtheta, L1(1).a+da, L1(1).d+dd, L1(1).alpha+dalpha); T12_error = myDH(L1(2).theta+dtheta, L1(2).a+da, L1(2).d+dd, L1(2).alpha+dalpha); T23_error = myDH(L1(3).theta+dtheta, L1(3).a+da, L1(3).d+dd, L1(3).alpha+dalpha); T34_error = myDH(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)]);这段代码和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这段代码运行不出来总是有错误。两段代码该怎么修改给我修改一下并且说明怎么运行成功

这段代码中的问题可能是语法错误或变量未定义。以下是可能的修改：

1. 首先，需要将`myDH()`函数的代码添加到这个脚本中。

2. 在这个脚本中，`L1`应该是一个数组，而不是一个对象。因此，需要将`Link()`对象的定义添加到数组中。例如，将以下代码：

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');

修改为：

L1(1) = Link('d', 0+0.001+dd, 'a', 0+0.001+da, 'alpha', 0+0.003+dalpha, 'qlim', [180*du, 365*du], 'offset', 0, 'modified');
L1(2) = Link('theta', 90*du+0.02+dtheta, 'a', 185+0.0079, 'alpha', 0+0.001, 'qlim', [3*du, 63*du], 'offset', 0, 'modified');
L1(3) = Link('theta', 90+0.005+dtheta, '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');

3. 在`T_error`的计算中，需要使用`subs()`函数将角度值替换为`L1`数组中的当前值。例如，将以下代码：

T_error = simplify(T01_error*T12_error*T23_error*T34_error);

修改为：

T_error = simplify(subs(T01_error*T12_error*T23_error*T34_error, [L1(1).theta, L1(2).theta, L1(3).theta, L1(4).theta], [L1(1).theta+dtheta, L1(2).theta+dtheta, L1(3).theta+dtheta, L1(4).theta+dtheta]));

4. 在计算`dx`，`dy`，`dz`，`rx`，`ry`和`rz`的值时，需要将`T_total`的值替换为一个数值矩阵，使用`double()`函数。例如，将以下代码：

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));

修改为：

dx = double(T_total(1, 4));
dy = double(T_total(2, 4));
dz = double(T_total(3, 4));
rx = atan2(double(T_total(3, 2)), double(T_total(3, 3)));
ry = atan2(-double(T_total(3, 1)), double(sqrt(T_total(3, 2)^2 + T_total(3, 3)^2)));
rz = atan2(double(T_total(2, 1)), double(T_total(1, 1)));

5. 最后，在运行这段代码之前，需要确保MATLAB路径中包含`Robotics Toolbox`的文件夹。这可以通过在MATLAB命令窗口中键入`tb`来检查。

希望这些修改能够帮助你运行这段代码。

我想要时t=5时，theta变为2，怎么改tmin = 0; tmax = 100; % 精度 d_doc = 1; doc = (tmax-tmin)/d_doc; % 参数直接在后面改 Pf = 10; m = 700; ii = 0.025; i0 = 0.02; nx = 45; r = 0.70.01; E = 1; theta = 0.1; d = -0.01; gamma = 1; kc = 20; aerfa = 0.7; lamuda = 0.8; fai = 10; beita = 1; w1 = 2; w2 = 1; n = 0.1; P0 = 5; huibig = 25; P1 = -mbeita*(i0+d)huibigPf/(((-faitheta-(w1-w2)E-log(n)+i0beita+dbeita)... (kc-huibig)Pf((-faitheta-(w1-w2)E-log(n)+i0beita)/beita/aerfa)^(aerfa/(aerfa-1)))-beitam(i0+d)E) syms dp T = linspace(tmin,tmax,doc); dt = T(2)-T(1); for i = 1:doc result_p(i) = P0; p = P0; eqn = ( - faitheta - (w1-w2)E-log(n)) / beita + i0 - dp/p ... - aerfa( beitam( Ep-huibigPf )(i0+d)/p/(-faitheta-(w1-w2)E-log(n)+i0beita+dbeita)... /(kc-huibig)/Pf)^ ( (aerfa-1)/aerfa ) ==0; temp_dp = solve(eqn,dp) ; temp_dp = double( temp_dp ); temp_dp = ( min( real(temp_dp) ) ); dp1(i) = temp_dp; P0 = P0 + temp_dpdt; disp(["计算中...",string(i/doc*100)," ％"]); end figure plot(T,result_p) xlabel("t") ylabel("p") figure plot(T,dp1); xlabel("t") ylabel("dp") dp_p = dp1./result_p; figure; plot(T,dp_p) xlabel("t") ylabel("dp/p")

将theta变为2只需要将代码中的theta赋值为2即可，如下所示：

Pf = 10; 
m = 700; 
ii = 0.025; 
i0 = 0.02; 
nx = 45; 
r = 0.70.01; 
E = 1; 
theta = 2; % 将theta赋值为2
d = -0.01; 
gamma = 1; 
kc = 20; 
aerfa = 0.7; 
lamuda = 0.8; 
fai = 10; 
beita = 1; 
w1 = 2; 
w2 = 1; 
n = 0.1; 
P0 = 5; 
huibig = 25; 
P1 = -mbeita*(i0+d)huibigPf/(((-faitheta-(w1-w2)E-log(n)+i0beita+dbeita)... (kc-huibig)Pf((-faitheta-(w1-w2)E-log(n)+i0beita)/beita/aerfa)^(aerfa/(aerfa-1)))-beitam(i0+d)E)

syms dp 
T = linspace(tmin,tmax,doc); 
dt = T(2)-T(1); 
for i = 1:doc 
    result_p(i) = P0; 
    p = P0; 
    eqn = ( - faitheta - (w1-w2)*E-log(n)) / beita + i0 - dp/p ... 
        - aerfa*( beitam( Ep-huibig*Pf )(i0+d)/p/(-faitheta-(w1-w2)*E-log(n)+i0*beita+d*beita)... 
        /(kc-huibig)/Pf)^ ( (aerfa-1)/aerfa ) ==0; 
    temp_dp = solve(eqn,dp) ; 
    temp_dp = double( temp_dp ); 
    temp_dp = ( min( real(temp_dp) ) ); 
    dp1(i) = temp_dp; 
    P0 = P0 + temp_dp*dt; 
    disp(["计算中...",string(i/doc*100)," ％"]); 
end 

figure 
plot(T,result_p) 
xlabel("t") 
ylabel("p") 

figure 
plot(T,dp1); 
xlabel("t") 
ylabel("dp") 

dp_p = dp1./result_p; 
figure; 
plot(T,dp_p) 
xlabel("t") 
ylabel("dp/p")