第二章机构运动学仿真.pptVIP

编制的M函数如下 2、用MATLAB实现牛顿—辛普森求解方法的例子 function y=rrrposi(x) %Script used to implement Newton -Raphson method for solving nonlinear position of RRR bar group %Input parameters %x(1)=theta-1；%x(2) =theta-2 guess value；%x(3) =theta-3 guess value %x(4) =r1；%x(5) =r2；%x(6) =r3；%x(7) =r4 %Output parameters %y(1) =theta-2；%y(2) =theta-3 theta2=x(2); theta3=x(3); epsilon=1.0E-6; f=[x(4)*cos(x(1))+x(5)*cos(theta2)-x(7)-x(6)*cos(theta3); x(4)*sin(x(1))+x(5)*sin(theta2)-x(6)*sin(theta3)]; while norm(f)epsilon J=[-x(5)*sin(theta2) x(6)*sin(theta3);x(5)*cos(theta2) -x(6)*cos(theta3)]; dth=inv(