Verify plane equation perpendicular to vector

Question

RoboTomo 2022-8-18

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1781350-verify-plane-equation-perpendicular-to-vector

回答： Chunru 2022-8-18

采纳的回答： Chunru

在 MATLAB Online 中打开

When robot gripper is in certain position I have to get a plane equation perpendicular to approach vector.

My code is following:

%% Plot approach vector
approach_vec=[-0.616490990166493, 0.492703172483058, -0.614151807673533]; %Approach vector
t=[-0.234045440283085, -0.520172447189332, -0.042211687615712]; %Approach vector origin
X=t(1);
Y=t(2);
Z=t(3);
U1=approach_vec(1);
V1=approach_vec(2);
W1=approach_vec(3);
quiver3(X,Y,Z,U1,V1,W1,'Color','#0072BD','linewidth',5,'AutoScale','on','AutoScaleFactor',1,'ShowArrowHead','on','Marker','.',MarkerEdgeColor='#D95319');
hold on;
%% Plot PLANE ABCD
A=approach_vec(1);
B=approach_vec(2);
C=approach_vec(3);
x1=t(1);
y1=t(2);
z1=t(3);
D=-(A*x1+B*y1+C*z1);
[x y] = meshgrid(-1:0.05:1); % Generate x and y data
z = -1/C*(A*x + B*y + D); % Solve for z data
surf(x,y,z); %Plot the surface
hold on; axis equal; plane=[A,B,C,D];

Plot and everything looks ok, but elements of this plane equation (A B C D) are input to some other function in which I get errors so I would like to get confirmation that this calculation is correct based on input data, because just maybe I am missing something.