机器人关节图的绘图位置不起作用 [英] Plotting position of robot joint graph does not work

问题描述

我想编写一个命令来显示机器人位置方程及其图形。这是我的命令，但它没有显示图表：

I want to write a command to display equation of robot position and its graph. This is my command, but it did not display the graph:

clear;
clc;

% initial position
theta1s=-150;
theta2s=-80;
theta3s=-50;
theta4s=-100;
theta5s=-180;

% final position
theta1f=20;
theta2f=100;
theta3f=80;
theta4f=50;
theta5f=180;

% time taken for movement
tf=input('time=')

% acceleration for every link
acc1=(4.*(20-(-150)))./(tf^2)
acc2=(4.*(100-(-80)))./(tf^2)
acc3=(4.*(80-(-50)))./(tf^2)
acc4=(4.*(50-(-100)))./(tf^2)
acc5=(4.*(180-(-180)))./(tf^2)

% blending time for every link
tb1=((0.5.*(tf))-(0.5.*(sqrt((((tf^2).*acc1)-(4.*(20-(-150))))./acc1))))
t = 0;
for x = 0:tf;
    t = t + 0.1;
    if 0<t<=tb1;
        y = theta1s+((0.5.*acc1).*(t^2));
    elseif tb1<t<=tf-tb1;
        y = (theta1s-((0.5.*acc1).*(tb1^2)))+(acc1.*tb1.*t);
    else tf-tb1<t<=tf;
        y = theta1s-((0.5.*acc1).*(tf.*t)^2);
    end

    plot(x,y,'r')
    title('Position Versus Time');
    xlabel('time in s');
    ylabel('position in m');
    grid on;
    drawnow;  
end

disp(y);

推荐答案

您可以将plot（x，y，'r '）通过绘图（x，y，'r *'）。所以，你将能够看到sepparate点。
您还需要在绘图函数之后添加hold on以便能够覆盖所有迭代的图。

You can replace plot(x,y,'r') by plot(x,y,'r*'). So, you will be able to see sepparate points. Also you will need to add "hold on" after plot function to be able to overlay plots for all iterations.

如果要绘制线但不能sepparate points，你应该更好地将可视化移出循环。这里是修改过的代码：

If you want to draw line but not sepparate points, you should better move the visualization out of the loop. Here is the modified code:

clear;
clc;

% initial position
theta1s=-150;
theta2s=-80;
theta3s=-50;
theta4s=-100;
theta5s=-180;

% final position
theta1f=20;
theta2f=100;
theta3f=80;
theta4f=50;
theta5f=180;

% time taken for movement
tf=input('time=')

% acceleration for every link
acc1=(4.*(20-(-150)))./(tf^2)
acc2=(4.*(100-(-80)))./(tf^2)
acc3=(4.*(80-(-50)))./(tf^2)
acc4=(4.*(50-(-100)))./(tf^2)
acc5=(4.*(180-(-180)))./(tf^2)

% blending time for every link
tb1=((0.5.*(tf))-(0.5.*(sqrt((((tf^2).*acc1)-(4.*(20-(-150))))./acc1))))
t = 0;

% allocate memory for array
y = zeros(1, tf+1);

for x = 0:tf;
    t = t + 0.1;
    if 0<t<=tb1;
        y(x+1) = theta1s+((0.5.*acc1).*(t^2));
    elseif tb1<t<=tf-tb1;
        y(x+1) = (theta1s-((0.5.*acc1).*(tb1^2)))+(acc1.*tb1.*t);
    else tf-tb1<t<=tf;
        y(x+1) = theta1s-((0.5.*acc1).*(tf.*t)^2);
    end
end

plot(0:tf,y,'r')
title('Position Versus Time');
xlabel('time in s');
ylabel('position in m');
grid on;
drawnow;

disp(y);

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