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body_workspace_EDU2.m
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body_workspace_EDU2.m
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%% 计算身体工作空间，RobotEDU2
clear;
close all
u2y = 0.162; %config(1)
u2z = 0.092; %config(2)
u3y = 0.162; %config(3)
u3z = -0.092; %config(4)
s2x = 0; %config(5)
s2y = 0.050; %config(6)
s2z = 0.027; %config(7)
s3x = 0; %config(8)
s3y = 0.050; %config(9)
s3z = -0.027; %config(10)
sfx = 0.071; %config(11)
sfy = -0.022; %config(12)
sfz = 0; %config(13)
home_pos = [0.5670, 0.5855, 0.5855]; %config(14:16)
config = [u2y, u2z, u3y, u3z, s2x, s2y, s2z, s3x, s3y, s3z, sfx, sfy, sfz, home_pos];
stroke = 0.209;
leg_base_pe = [ -0.0762, 0, -0.1320, pi/2, pi* 2/3, -pi/2-pi*43.64/180;
-0.1524, 0, 0, pi/2, pi* 3/3, -pi/2-pi*43.64/180;
-0.0762, 0, 0.1320, pi/2, pi* 4/3, -pi/2-pi*43.64/180;
0.0762, 0, -0.1320, pi/2, pi* 1/3, -pi/2-pi*43.64/180;
0.1524, 0, 0, pi/2, pi* 0/3, -pi/2-pi*43.64/180;
0.0762, 0, 0.1320, pi/2, pi* 5/3, -pi/2-pi*43.64/180];
hexa = Hexapod(config,stroke,leg_base_pe);
% 初始足尖坐标
pee = [ -0.30, -0.52, -0.52;
-0.60, -0.52, 0;
-0.30, -0.52, 0.52;
0.30, -0.52, -0.52;
0.60, -0.52, 0;
0.30, -0.52, 0.52 ]';
peb = [0 0 0 0 0 0];
alpha = 0:10:360;
n = length(alpha);
r_out = zeros(1,n);
dr = 0.02;
y = 0;
ymax = 0.2;
ymin = -0.2;
dy = 0.02;
R = [];
Y = [];
while true
for i = 1:n
inWorkspace = true;
r = 0;
while inWorkspace
r = r + dr;
peb = [r*cosd(alpha(i)), y, r*sind(alpha(i)), 0, 0, 0];
hexa.invKin(peb,pee);
inWorkspace = hexa.isInWorkspace();
end
r_out(i) = r - dr;
end
if y >= 0
R = [R; r_out];
Y = [Y; y];
y = y + dy;
if y > ymax || norm(r_out) < eps
y = -dy;
end
else
R = [r_out; R];
Y = [y; Y];
y = y - dy;
if y < ymin ||norm(r_out) < eps
break;
end
end
end
m = size(R,1);
Y = repmat(Y,1,n);
ALPHA = repmat(alpha,m,1);
X = R.*cosd(ALPHA);
Z = R.*sind(ALPHA);
s = surf(X,Z,Y);
s.FaceAlpha = 0.5;
s.EdgeAlpha = 0.2;
fontsz = 10;
set(gca,'Position',[.15 .1 .8 .95],'FontSize',fontsz,'FontName','Times New Roman');
set(gca,'YDir','reverse') %交换y,z轴数据后，须改变Y轴方向以满足右手坐标系
set(gcf,'Position',[200 200 300 200]);
xlabel('\it x','FontSize',fontsz,'FontName','Times New Roman')
ylabel('\it z','FontSize',fontsz,'FontName','Times New Roman')
zlabel('\it y','FontSize',fontsz,'FontName','Times New Roman')
xticks(-0.6:0.3:0.6)
yticks(-0.6:0.3:0.6)
zticks(-0.2:0.2:0.2)
xlim([-0.6 0.6])
ylim([-0.6 0.6])
zlim([-0.2 0.2])
grid off
axis equal
view([-45,25])
%% 画出工作空间立方体
% hold on
% plotcube([0.25 0.25 0.25],[-0.125 -0.125 -0.15],1,[1 0 0]);
% center = zeros(1,3);
% r1 = 0.4;
% cu1 = upborder(:,(upborder(1,:)-center(1)).^2 + (upborder(3,:)-center(3)).^2 < (r1+dw/5).^2); %找到上边界内以足尖为圆心，半径为r1的圆内的点
% cl1 = lowborder(:,(lowborder(1,:)-center(1)).^2 + (lowborder(3,:)-center(3)).^2 < (r1+dw/5).^2); %找到下边界内以足尖为圆心，半径为r1的圆内的点
% % scatter3(cu1(1,:),cu1(3,:),cu1(2,:)); %测试用
% cyu1 = min(cu1(2,:));
% cyl1 = max(cl1(2,:));
% ch1 = cyu1 - cyl1;
% fc = 'r'; %圆柱颜色
% fa = 1; %圆柱透明度
% [X1,Z1,Y1] = cylinder(r1);
% X1 = X1 + center(1);
% Z1 = Z1 + center(3);
% Y1 = Y1*ch1 + cyl1;
% sc = surf(X1,Z1,Y1);
% sc.FaceColor = fc;
% sc.FaceAlpha = fa;
% sc.EdgeColor = 'none';
% p1 = patch(X1(1,:),Z1(1,:),Y1(1,:),fc);
% p2 = patch(X1(2,:),Z1(2,:),Y1(2,:),fc);
% p1.FaceAlpha = fa;
% p1.LineWidth = 1;
% p2.FaceAlpha = fa;
% p2.LineWidth = 1;
% 画出最小半径与高度的关系
figure
rm = min(R');
ym = Y(:,1);
plot(ym,rm);