matlab阻抗控制代码-daVinci-Impedance-Control:达芬奇外科手术机器人阻抗控制的MATLAB仿真

上传者: 38679651 | 上传时间: 2021-09-13 17:08:43 | 文件大小: 152KB | 文件类型: ZIP
matlab阻抗控制代码达芬奇研究套件患者侧操纵器(PSM)的阻抗控制 该软件包包含MATLAB代码,该代码显示了RBE501机器人动力学课程最终项目的完成工作。 此代码包包含三个子包,每个子包都有自己的自述文件。 一共有三个文件夹 \ Impedance_Control_Code_R2012a \ \ Impedance_Control_Code_R2015a \ \ Inverse_Kinematics_PSM_R2012a \ 第一个文件夹\ Impedance_Control_Code_R2012a \包含与为da Vinci PSM开发的阻抗控制模型相关的代码。 该文件中的代码是在MATLAB R2012a中开发的。 第二个文件夹\ Impedance_Control_Code_R2015a \包含与为da Vinci PSM开发的阻抗控制模型相关的代码。 该文件中的代码是在MATLAB R2012a中开发的,但也经过测试和修改以兼容MATLAB R2015a。 第三个文件夹\ Inverse_Kinematics_PSM_R2012a \包含达芬奇PSM的反向运动学代码。

文件下载

资源详情

[{"title":"( 39 个子文件 152KB ) matlab阻抗控制代码-daVinci-Impedance-Control:达芬奇外科手术机器人阻抗控制的MATLAB仿真","children":[{"title":"daVinci-Impedance-Control-master","children":[{"title":"Readme.md <span style='color:#111;'> 1.38KB </span>","children":null,"spread":false},{"title":"Impedance_Control_Code_R2015a","children":[{"title":"taus.mat <span style='color:#111;'> 15.91KB </span>","children":null,"spread":false},{"title":"cubicTraj.m <span style='color:#111;'> 883B </span>","children":null,"spread":false},{"title":"getPSM_DH.m <span style='color:#111;'> 1.21KB </span>","children":null,"spread":false},{"title":"dh2mat.m <span style='color:#111;'> 348B </span>","children":null,"spread":false},{"title":"cb_conf.m <span style='color:#111;'> 358B </span>","children":null,"spread":false},{"title":"cb_interactive_IMP.m <span style='color:#111;'> 12.76KB </span>","children":null,"spread":false},{"title":"ReadMe.txt <span style='color:#111;'> 1.95KB </span>","children":null,"spread":false},{"title":"MAIN.m <span style='color:#111;'> 12.17KB </span>","children":null,"spread":false},{"title":"coeffs_Lagr.asv <span style='color:#111;'> 2.27KB </span>","children":null,"spread":false},{"title":"deg2rad.m <span style='color:#111;'> 45B </span>","children":null,"spread":false},{"title":"proper_lagrangian_PSM.m <span style='color:#111;'> 8.37KB </span>","children":null,"spread":false},{"title":"MCG.mat <span style='color:#111;'> 12.29KB </span>","children":null,"spread":false},{"title":"coeffs_Lagr.m <span style='color:#111;'> 2.36KB </span>","children":null,"spread":false},{"title":"proper_lagrangian_PSM.asv <span style='color:#111;'> 8.54KB </span>","children":null,"spread":false},{"title":"vars_for_cb.mat <span style='color:#111;'> 27.22KB </span>","children":null,"spread":false},{"title":"cb_txtupdate.m <span style='color:#111;'> 162B </span>","children":null,"spread":false},{"title":"tr2eul.m <span style='color:#111;'> 1.15KB </span>","children":null,"spread":false}],"spread":false},{"title":"Inverse_Kinematics_PSM_R2012a","children":[{"title":"cubicTraj.m <span style='color:#111;'> 883B </span>","children":null,"spread":false},{"title":"rotm2eul.m <span style='color:#111;'> 673B </span>","children":null,"spread":false},{"title":"dh2mat.m <span style='color:#111;'> 348B </span>","children":null,"spread":false},{"title":"eul2rotm_ip_rad.m <span style='color:#111;'> 334B </span>","children":null,"spread":false},{"title":"ReadMe.txt <span style='color:#111;'> 1.58KB </span>","children":null,"spread":false},{"title":"MAIN.m <span style='color:#111;'> 11.60KB </span>","children":null,"spread":false},{"title":"plotarm_rad_6q.m <span style='color:#111;'> 1.52KB </span>","children":null,"spread":false}],"spread":true},{"title":"Impedance_Control_Code_R2012a","children":[{"title":"taus.mat <span style='color:#111;'> 15.91KB </span>","children":null,"spread":false},{"title":"cubicTraj.m <span style='color:#111;'> 883B </span>","children":null,"spread":false},{"title":"getPSM_DH.m <span style='color:#111;'> 1.21KB </span>","children":null,"spread":false},{"title":"dh2mat.m <span style='color:#111;'> 348B </span>","children":null,"spread":false},{"title":"cb_conf.m <span style='color:#111;'> 358B </span>","children":null,"spread":false},{"title":"cb_interactive_IMP.m <span style='color:#111;'> 12.79KB </span>","children":null,"spread":false},{"title":"ReadMe.txt <span style='color:#111;'> 1.71KB </span>","children":null,"spread":false},{"title":"MAIN.m <span style='color:#111;'> 12.18KB </span>","children":null,"spread":false},{"title":"proper_lagrangian_PSM.m <span style='color:#111;'> 8.37KB </span>","children":null,"spread":false},{"title":"MCG.mat <span style='color:#111;'> 12.29KB </span>","children":null,"spread":false},{"title":"coeffs_Lagr.m <span style='color:#111;'> 2.36KB </span>","children":null,"spread":false},{"title":"vars_for_cb.mat <span style='color:#111;'> 27.22KB </span>","children":null,"spread":false},{"title":"cb_txtupdate.m <span style='color:#111;'> 162B </span>","children":null,"spread":false},{"title":"tr2eul.m <span style='color:#111;'> 1.15KB </span>","children":null,"spread":false}],"spread":false}],"spread":true}],"spread":true}]

评论信息

免责申明

【只为小站】的资源来自网友分享,仅供学习研究,请务必在下载后24小时内给予删除,不得用于其他任何用途,否则后果自负。基于互联网的特殊性,【只为小站】 无法对用户传输的作品、信息、内容的权属或合法性、合规性、真实性、科学性、完整权、有效性等进行实质审查;无论 【只为小站】 经营者是否已进行审查,用户均应自行承担因其传输的作品、信息、内容而可能或已经产生的侵权或权属纠纷等法律责任。
本站所有资源不代表本站的观点或立场,基于网友分享,根据中国法律《信息网络传播权保护条例》第二十二条之规定,若资源存在侵权或相关问题请联系本站客服人员,zhiweidada#qq.com,请把#换成@,本站将给予最大的支持与配合,做到及时反馈和处理。关于更多版权及免责申明参见 版权及免责申明