wannafly2587
2012-03-23, 10:13
function tjs() %1/k在工作空间分布程序
syms x y
J=[1 y/sqrt(1-y^2);x/sqrt(1-x^2) 1];%机构雅克比矩阵
J_in=inv(J);
J_in_T=[J_in(1) J_in(2);J_in(3) J_in(4)];
cond_J=sqrt(J(1)^2+J(2)^2+J(3)^2+J(4)^2);
cond_J_in=sqrt(J_in(1)^2+J_in(2)^2+J_in(3)^2+J_in(4)^2);
k=cond_J*cond_J_in/2;
k_in=1/k;
ezmesh(k_in,[-1/sqrt(2),1/sqrt(2),-1/sqrt(2),1/sqrt(2)],'circ') % 机构的灵巧度在半径为1的圆区域里的分布
view (0,90)
contour(J,9)
title '1/k在工作空间里的分布'
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
以上程序绘制出的图不是等高线图，而是有不同颜色区域的实心圆
请教高手如何改正啊？
qq984189153，真心求教！
syms x y
J=[1 y/sqrt(1-y^2);x/sqrt(1-x^2) 1];%机构雅克比矩阵
J_in=inv(J);
J_in_T=[J_in(1) J_in(2);J_in(3) J_in(4)];
cond_J=sqrt(J(1)^2+J(2)^2+J(3)^2+J(4)^2);
cond_J_in=sqrt(J_in(1)^2+J_in(2)^2+J_in(3)^2+J_in(4)^2);
k=cond_J*cond_J_in/2;
k_in=1/k;
ezmesh(k_in,[-1/sqrt(2),1/sqrt(2),-1/sqrt(2),1/sqrt(2)],'circ') % 机构的灵巧度在半径为1的圆区域里的分布
view (0,90)
contour(J,9)
title '1/k在工作空间里的分布'
+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
以上程序绘制出的图不是等高线图，而是有不同颜色区域的实心圆
请教高手如何改正啊？
qq984189153，真心求教！