workspace of a scara

function main
    % you main script
end
function TransMat
    % your function
end
% ------ OR ------- PUT IT INSIDE
function main
    % you main script
    function TransMat
        % your function
    end
end

Don't name your files with 'spaces'

Espace de travail du robot.m        % wrong
Espace_de_travail_du_robot.m        % right (use underscore)

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Walter Roberson 2020-3-1

在 MATLAB Online 中打开

clc;
clear all;
syms a b c d 
syms t1_min t2_min t3_min t4_min t5_min t6_min t7_min t1_max t2_max t3_max t4_max t5_max t6_max t7_max
%%%%%%%%% DETERMINONS L'ESPACE DE TRAVAIL DU BRAS MANIOULATEUR%%%%%%%%%
a1 = 0;         alpha1 = pi/2;       d1 = 0.0345;
a2 = 0;         alpha2 = -pi/2;      d2 = 0;
a3 = -0.045;    alpha3 = pi/2;       d3 = 0.55;
a4 = 0.045;     alpha4 = -pi/2;      d4 = 0;
a5 = 0;         alpha5 = -pi/2;      d5 = 0.30;
a6 = 0;         alpha6 = pi/2;       d6 = 0;
a7 = 0;         alpha7 = 0;          d7 = 0.060;
%%%%%%%%LIMITE DES JOINTS%%%%%%%
t1_min=0; t1_max=0;
t2_min = -1.9;  t2_max = 1.9;
t3_min = -2.8;  t3_max = 2.8; 
t4_min = -0.9;  t4_max = 3.14;
t5_min = -4.8;  t5_max = 1.3;
t6_min = -1.6;  t6_max = 1.6;
t7_min = -2.2;  t7_max = 2.2;
%%%%%%%% METHODE MONTE CARLOS %%%%%%%%%
%%%%%%% NOMBRE DE POINTS 
N = 20000;
t1 = t1_min + (t1_max-t1_min)*rand(N,1);
t2 = t2_min + (t2_max-t2_min)*rand(N,1);
t3 = t3_min + (t3_max-t3_min)*rand(N,1);
t4 = t4_min + (t4_max-t4_min)*rand(N,1);
t5 = t5_min + (t5_max-t5_min)*rand(N,1);
t6 = t6_min + (t6_max-t6_min)*rand(N,1);
t7 = t7_min + (t7_max-t7_min)*rand(N,1);
%%%%%%% CREATION DE LA MARICE DE TRANSFORMATION%%%%%%%
%%%%%%%%% PLOTTING THE WORKSPACE
for i = 1:N
A1 = TransMat(a1,alpha1,d1,t1(i));
A2 = TransMat(a2,alpha2,d2,t2(i));
A3 = TransMat(a3,alpha3,d3,t3(i));
A4 = TransMat(a4,alpha4,d4,t4(i));
A5 = TransMat(a5,alpha5,d5,t5(i));
A6 = TransMat(a6,alpha6,d6,t6(i));
A7 = TransMat(a7,alpha7,d7,t7(i));
T = A1*A2*A3*A4*A5;
X=T(1,4);
Y=T(2,4);
Z=T(3,4);
plot3(X,Y,Z,'.')
hold on;
end
view(3);
title('Isometric view');
xlabel('x (m)');
ylabel('y (m)');
zlabel('z (m) ');
view(2); % top view
title(' Top view');
xlabel('x (m)');
ylabel('y (m)');
view([1 0 0]); % y-z plane
title('Side view, Y-Z');
ylabel('y (m)');
zlabel('z (m)');
function T = TransMat(a,b,c,d)
T = [cos(d) -sin(d)*cos(b) sin(d)*sin(b) a*cos(d); sin(d) cos(d)*cos(b) -cos(d)*sin(b) a*sin(d); 0 sin(b) cos(b) c; 0 0 0 1];
end