运行程序后显示空间点向右 应为向上 问如何修改d1=0;d2=0;
a1_min = 0; a1_max = 50;
a2=40;
a3=40;
a4=20;
t1_min = -30; t1_max = 30; alpha1_min = 0; alpha1_max = 360; alpha2=0
t2_min = -60; t2_max = 60;
t3_min = -60; t3_max = 60;
t4_min = -60; t4_max = 60;
N1 = 10;
t2 = linspace(t2_min,t2_max,N1)(pi)/180;
t3 = linspace(t3_min,t3_max,N1)(pi)/180;
t4 = linspace(t4_min,t4_max,N1)(pi)/180;
N2 = 5;% Insertion point are flexible
t1 = linspace(t1_min,t1_max,N2)(pi)/180;
M1 = 20;
alpha1 = linspace(alpha1_min,alpha1_max,M1)(pi)/180;
M2 = 10;
a1 = linspace(a1_min,a1_max,M2);
for i1 = 1:N2
for l1 = 1:M1
for l2 = 1:M2
A1 = DHMatrix(alpha1(l1),d1,a1(l2),t1(i1));
for i2 = 1:N1
A2 = DHMatrix(t2(i2),d2,a2,0);
for i3 = 1:N1
A3 = DHMatrix(t3(i3),d3,a3,0);
for i4 = 1:N1
A4 = DHMatrix(t4(i4),d4,a4,0);
T1 =A1A2A3A4
X1=T1(1,4);
Y1=T1(2,4);
Z1=T1(3,4);
plot3(X1,Y1,Z1,'.','MarkerSize',1)
hold on;
end
view(3);
title('Isometric view');
xlim([-150, 150]);
ylim([-150, 150]);
zlim([0, 200]);
xlabel('X (m)');
ylabel('Y (m)');
zlabel('Z (m)');
end
end
end
end
end