这段代码错了吗?请帮助！！ [英] wats wrong with this code? plz help!!!

问题描述

这是一个用于查找机械手inv运动学的程序.

我的怀疑不是运动学的:-).

我的程序会执行，但始终会打印无法到达的位置"，即使对于已知值，它也会执行相同的操作.

在这里，我使用了弧度表示角度，因为那是c能够理解的.

请告诉我如何解决此问题，甚至告诉我实现此问题的更好方法.

谢谢.

This is a program to find robotic arm inv kinematics.

My doubt is not in kinematics :-).

My program executes but always prints "position unacheivable", even for a known value, it does the same.

Here I have used radians for angles since thats what c understands.

Please tell me how to come across this or even tell me better method to implement this.

Thank you.

 #include<stdio.h>
 #include<math.h>
 #include<conio.h>
 void main()
 {
   float a, b, c, d;
   int x = 0, y = 0, z = 0;
   int x1 = 0, y1 = 0, z1 = 0;
   int i = 0;

   printf("Enter X value: \n");
   scanf("%d", &x);
   printf("Enter Y value: \n");
   scanf("%d", &y);
   printf("Enter Z value: \n");
   scanf("%d", &z);

   for (a = -1.74 ; a <= 1.74 ; a = a + 0.02)
   {
     for (b = 0.0; b <= 3.14; b = b + 0.02)
     {
       for (c = -1.74; c <= 1.74; c = c + 0.02)
       {
         for (d = -0.784; d <= 0.784; d = d + 0.02)
         {
           x1 = (int)((11*cos(d+c+b+a)+11*cos(d+c+b-a)+12*cos(c+b+a)+12*cos(c+b-a)+9*cos(b+a)+9*cos(b-a))/2);
          if(x1 == x)
          {
            y1 = (int)((11*sin(d+c+b+a)-11*sin(d+c+b-a)+12*sin(c+b+a)-12*sin(c+b-a)+9*sin(b+a)-9*sin(b-a))/2);
            if(y1 == y)
            {
              z1 =  (int)(11*sin(d+c+b) + 12*sin(c+b) + 9*sin(b));
              if(z1 == z)
              {
                i = 1;
                goto status;
              }
            }
          }
        }
      }
    }
  }
  status:
  if(i == 0)
    printf("*****Positon unacheivable*****");
  else
    printf(" The joint angles for the desired positon are %d \t %d \t %d \t %d \n", a, b, c, d);
    getch();
}

推荐答案

这是最里面的for循环的正确格式的代码:

This is the proper formatted code of your inner most for loop:

for (d = -0.784; d <= 0.784; d = d + 0.02)
{
	x1 = (int)((11*cos(d+c+b+a)+11*cos(d+c+b-a)+12*cos(c+b+a)+12*cos(c+b-a)+9*cos(b+a)+9*cos(b-a))/2);
	if(x1 == x)
	{
		y1 = (int)((11*sin(d+c+b+a)-11*sin(d+c+b-a)+12*sin(c+b+a)-12*sin(c+b-a)+9*sin(b+a)-9*sin(b-a))/2);
		if(y1 == y)
		{
			z1 =  (int)(11*sin(d+c+b) + 12*sin(c+b) + 9*sin(b));
			if(z1 == z)
			{
				i = 1;
				goto status;
			}
		}
	}
}

如果看到，则仅在满足3个条件(即x1 = x，y1 = y，z1 = z)后修改i.
只要它们中的任何一个都不相同，就不会修改i，而您会进入满足i=0
的if条件
如果您进行调试，则应该发现i可能不会从0重新分配为1.

If you see, you modify i, only after 3 conditions are met, i.e. x1=x, y1=y, z1=z.
As long as any one of them are not same, i is never modified and you land up in the if condition that satisfies i=0

If you debug, you should find that i might not be getting reassigned to 1 from 0.

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