关注微信公众号二进制人工智能并回复robot，获取MATLAB机器人工具箱

1 在平面上画字母C

mdl_puma560aplha=pi/4:pi/40:2*pi-pi/4;k=inf; % 斜面斜率k r=1;letterShrink=0.2; %缩放倍数letterTranslX=0.4;% 沿X平移量letterTranslY=0; % 沿Y平移量letterTranslZ=0; % 沿Z平移量if k==inf % 垂直平面z=r*cos(aplha);x= diag(zeros(length(z)));y=r*sin(aplha);path=[diag(zeros(length(y))),y',z'];path=[path(1,:)+0.5*[-1,0,0];path;path(end,:)+0.5*[-1,0,0]]; % 垂直平面上的Cy=-0.5:0.1:0.5;z=-0.5:0.1:0.5;[Y, Z] = meshgrid(y, z);X=ones(size(Y))*letterTranslX;mesh(X,Y,Z)hold oninitPoint=path(1,:)+0.5*[-1,0,0];elsex=r*cos(aplha);y=r*sin(aplha);z=k*x;path=[x',y',z'];path=[path(1,:)+0.5*[-k,0,1];path;path(end,:)+0.5*[-k,0,1]]; % 斜率为k的斜面上的Cx=0:0.1:1;y=-0.5:0.1:0.5;[X,Y]=meshgrid(x,y);z=k*(X-letterTranslX);mesh(X,Y,z)hold oninitPoint=path(1,:)+0.5*[-k,0,1];endplot3(letterShrink*path(:,1)+letterTranslX,letterShrink*path(:,2)...+letterTranslY,letterShrink*path(:,3)++letterTranslZ,'color','k','LineWidth',1)p=mstraj(path,[0.8,0.8,0.6],[],initPoint,0.4,0.1); Tp=transl(letterShrink*p); Tp=homtrans(transl(letterTranslX, letterTranslY, letterTranslZ),Tp);p560.tool=transl([0,0,0.2])*trotx(pi); q=p560.ikine6s(Tp); p560.plot(q)

k=0

k=1

k=inf

2 在球面上画字母E

clc;clearclose allmdl_puma560letterShrink=0.2; %缩放倍数letterTranslX=0.4;% 沿X平移量letterTranslY=0;% 沿Y平移量letterTranslZ=-1;% 沿Z平移量r=0.3;[x y z]=sphere(50);mesh(r*x+letterTranslX,r*y+letterTranslY,r*z+letterTranslZ);%绘制半径为2的球hold onpath=[1,-1,1,;1,-1,0;1,-1,0;0,-1,0;0,1,0;1,1,0;1,1,1;0,0,1;0,0,0;1,0,0;1,0,1]*letterShrink;initPoint=path(1,:);path=mstraj(path,[0.5,0.5,0.3],[],initPoint,0.1,0.2); [m,n]=size(path);x1=path(:,1);y1=path(:,2);indexDraw=(path(:,3)==letterTranslZ);indexNotDraw=(path(:,3)~=letterTranslZ);path(indexDraw,3)=sqrt(r^2-(x1(indexDraw)).^2-(y1(indexDraw)).^2); path(indexNotDraw,3)=path(indexNotDraw,3)+sqrt(r^2-(x1(indexNotDraw)).^2-(y1(indexNotDraw)).^2);for i=1:mpath(i,:)= path(i,:)+[letterTranslX,letterTranslY,letterTranslZ];endplot3(path(:,1),path(:,2),path(:,3),'color','k','LineWidth',2)rotate3d onp560.tool=transl([0,0,0.5])*trotx(pi); Tp=transl(path);q=p560.ikine6s(Tp); p560.plot(q)