登录
首页 » Others » 六自由度机械臂三维仿真程序(完整版)

六自由度机械臂三维仿真程序(完整版)

于 2020-11-28 发布
0 250
下载积分: 1 下载次数: 5

代码说明:

本人亲自编写六自由度机械臂三维仿真程序,调试通过。用户可以通过更改参数,可控制机械臂在空间中的位置,以及获得机械臂三维空间基本运动的实现。里面有详细的程序注释。

下载说明:请别用迅雷下载,失败请重下,重下不扣分!

发表评论

0 个回复

  • 最新版的m_map工具箱
    最新版的m_map工具箱,添加了Shaded Relief地图功能,可以画出精美的地图。下载e_topo2或者e_topo1就可以画Shaded Relief图了。
    2020-12-09下载
    积分:1
  • 内存乒乓缓存机制和消息分发机制的C代码实现
    用C代码实现乒乓内存缓冲机制,具体实用价值,帮助您提高内存响应速度与及时数据的处理。unsigned long writeunsigned long greadunsigned long overflowST TWTMSG QUEUE:/ Helper macros for accessing Msg queues. *#define tWt QUEUE EMPty(a)(((g->write==(q)->gread)? 1: 0)#define twt_ QUeUe full(a)(((((q)->qwrite +1% TIMEWEIGHT TASKQUEUE SIZED)==(q)->gread)?1: 0)米 generate a Msg entity*正常返回消息体的指针,异常返回NULLT TWTMSG* generateMsg(tT-TWTMSG* pmSg=nULL,if(NULL =-(ptMsg malloc(sizeof(T TWTMSG)))return NULL;memset(ptMsg, 0, sizeof(T TWTMSG)return pmSg;destroy a Msgvoid destroy Msg(t TWTMSG ptMsgif(NULL ptMsg->pfDestroyMsg)pt Msg->pfDestroy Msg(ptMsg->pvMsg)if (NULL != pt Msg)free(pmSgfree a Msg Queuevoid freeTWTMsg Que(T TWTMSG QUEUE* ptMsgQif(NULL =ptMsg Afree(ptMsg Q);Init a Msg QT TWTMSG QUEUE* initTWTMsg QueoT TWTMSG QUEUE pmSg Q= NULlif (NULL ==(ptMsgQ malloc(sizeof(T_ TWTMSG QUeue)goto ErrRetmemset(ptMsgQ, 0, sizeof(T TWTMSG QUEUE))return pmSg Q;Errretprintf( initTWTMsg Que Fail! ")freeTWTMsgQue(ptMsg Q)return nullPop a pvMsg packet from a msg packet queues param g is the packet queue from which to pop the pbuf@return pointer to pvMsg packet if available, NULl otherwiseT TWTMSG* TWTMsg Get(T_ TWTMSG QUEUE aT TWTMSG*//*加锁if(TWT_ QUEUE_ EMPTY(a))iReturn a NUll pointer if the queue is emptypmSg=NULL;else is The queue is not empty so return the next frame from itand adjust the read pointer accordinglypmSg=g->pvMsglq >greadg->gread =((q->gread +1)% TIMEWEIGHT_TASKQUEUE_ SIZE)/*解锁return(pmSg);Push a pmSg packet onto a pvMsg packet queue@param p is the pmsg to push onto the packet queue@param g is the packet queue.W @return 0 if successful, -1 if q is fullnt TWTMsg Send(T tWTMSg*p, T TWTMSG QUEUE *qint ret/if(!TWT_ QUEUE FULL(al)iThe queue isn t full so we add the new frame at the currentw write position and move the write pointer.g->pvMsgla->write]=pg- >write =((q->qwrite+1)% TIMEWEIGHT TASKQUEUE SIZE;ret =oThe stack is full so we are throwing away this value. Keep trackof the number of times this happensg->overflow++ret =-1://*解锁return(ret)**米**米来米***来米*半米*米*半米*米求***半*米米求半**米求半**半求半和*米*//消息分发机制//*算法是//*正常返回0,出错返回-1水米米******水*米*水**米*半*水米米冰半**水水*水米米半米冰水*米水水*水*米水水extern int RecToFile MsgProc(T_ MSG_ REC2 FILE* ptMsg);int DispatchMsg(T TWTMSG *ptMsgitif(NULl = ptMsg goto ErrRet/*dispatch msg*/switch(ptMsg->en Msg Type)case TWT PINgPoNgBuff recRecTo File Msg Procl(TMSG_REC2FE) (pmSg->pMsg);/*处理消息*/destroy Msg( pmSg;/*消毁消息breakdefault.printf("Dispatch Msg Msgtype Error! n")break.return 0ErrRetprintf("Dispatch Msg Fail! ";return-1./*buff size*/#defineP| NGPONG_ BUFF BSIZE0X20000//10*1024*1024/*10M*/*ping pong buff*///chargacPINGBUFF[PINGPONG BUFF BSIZE]; /* Ping Buff*///chargacPONGBUFF[PINGPONG_ BUFF BSIZE] *Pong Buff*/水米米*********米*水**米*半*水米米水**冰水*水米米半半水半米冰水*米水水*水*米米//*释放 ping pong buff/必然成功//*无返回木***木*水****本**水*水水*水****本水**水水****水水***本***米*水void Destroy Ping Pong Butt(T PINGPONGBUFF USE DES ptPing Pong Butt)nLoopif (NULL = pt Ping pong buffreturnfor (nLoop=0; nLooptIng BuffUse[nLoop]. pcHeadAddr)free(ptPing Pong ->t Ping BuffUse[nLoop]. pcHeadAddr)free(pt Ping pong Buff)/初始化 ping pong buff返回 pign pong buff的描述指针//*正常返回0,出错返回-1水水水水水水水水水木水木水水水水水木水木水水水水水水水水本水水水水水水水水水本水水水水水水水水水水水水水T PINGPONGBUFF USE DES InitPing Pong Buff(unsigned int n BuffSizeT PINGPONGBUFF USE DES* ptBuffDes=NULLintnLoop/*获取buf描述*if NULL==(ptBuffDes=malloc(sizeof(T PINGPONGBUFF USE DES))))goto ErrRetmemset(pt BuffDes, 0, sizeof(T_PINGPONGBUFF USE_ DES));/*分别初始化ping和pong*/for(nLoop=0; nLooptIng BuffUsenLoop pcHeadAddr =malloc n BuffSize))goto Err Ret;ptBuffDes->tIng BuffUselnLoop] nBuffSize nBuffsizeptBuffDes->tPing BuffUse[nLoop]. oFfsetptBuffDes->tPing BuffUsenLoop) eUseStatus-=BUFF WRITEABLE;pt BuffDes->eCurUseIDBUFF PINGreturn pt BuffDesErrretprintf("lnitPing Pong Buff Fail!");DestroyIng Pong Buff(pt BuffDes)turn null平**米**米*米***来米米*米*米*半米*米米米来*半米平**米米求*来*半求半来*米求*和*米*/*Reset ping pong buff//*正常返回0,出错返回-1米米米米水冰米*米米水**米米冰*米水米米米米水米水*水米米来米米x米来米米水冰来来宋来水米来米来冰#define ResetBuffUse(ptBuffuse)pt BuffUse->oFfset0pt BuffUse->eUseStatus BUFF WRITEABLEgenerate a file rec msg*正常返回消息体的指针,异常返回NULLT_MSG_REC2lGK SenFRMSB(T_BUFF_USE_DES *ptBuffUse, REC_FILE_DESLIST *ptFileListRT MSG REC2FILE KE* ptRFMsg= NULL;if(NULL ==(ptRFMsg malloc(sizeof(T_ MSG REC2 FILE)return nUllptRFMsg- >pt BuffUse pt BuffUseptRFMsg->pt Filelist ptFilelist;return ptRFMsg
    2020-12-03下载
    积分:1
  • MATLAB统计分析与应用:40个案例分析
    有关matlab统计分析与应用,中间包括40个经典案例的分析,对于学习数学建模很有帮助。
    2020-12-09下载
    积分:1
  • 基于HMM和DTW算法的孤立词识别
    用matlab语言写的关于语音识别技术中最为流行的匹配算法hmm,可以实现端点检测和基于DTW和HMM的孤立词识别和连续语音识别
    2020-11-28下载
    积分:1
  • 重复控制器的matlab/simulink仿真
    使用simulink做的重复控制器的仿真
    2020-11-28下载
    积分:1
  • 基于双谱切片的盲感知算法的Matlab仿真参考代码
    利用Matlab内置的高阶谱分析(HOSA)工具箱,首先绘制得到了双谱估计三维图和双谱估计切片图;然后进行了基于双谱对角切片盲感知算法的Matlab仿真实现。
    2020-12-11下载
    积分:1
  • 最小二乘法系统辨识matlab
    用matlab实现的最小二乘法用于系统辨识,从文件中读取数据,然后辨识。里面包括各种基于最小二乘法的算法,普通最小二乘,广义最小二乘。。。等等
    2020-12-05下载
    积分:1
  • psd格式的ps作品
    ps的端午节,是psd格式的,有16个左右的图层...可以随便下载了,也可以自己修改...
    2020-11-30下载
    积分:1
  • cocos creator 制作游戏--登山赛(可发布到微信小游戏)
    用cocos creator 2.0.8制作的登山赛游戏源码,可以发布到微信小游戏平台。
    2020-12-09下载
    积分:1
  • matlab 机器人避障
    本人使用一个原始避障程序,里面有相应的论文,我进行了改写
    2020-12-04下载
    积分:1
  • 696518资源总数
  • 105540会员总数
  • 37今日下载