Question
如图 6-6 所示的两连杆操作臂在 $\Theta=\left(-5^{\circ} 125^{\circ}\right)^{\top}$ 静止. 期望关节以光滑轨迹在 4 秒钟运动到 $\Theta=\left(80^{\circ} \quad 45^{\circ}\right)^{\top}$ 。找出两个三次样条的系数, 完成该轨迹运动并让操作辟静止在目标位置。如果 $l_1=3$ 且 $l_2=2.2$ 画出轨迹的 $x-y$ 坐标.
Step 1
- Initial angles: $\Theta_0 = \begin{pmatrix} -5^\circ \\ 125^\circ \end{pmatrix}$ - Final angles: $\Theta_f = \begin{pmatrix} 80^\circ \\ 45^\circ \end{pmatrix}$ - Initial time: $t_0 = 0$ seconds - Final time: $t_f = 4$ seconds - Initial and final Show more…
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