N-R法matlab代码-IntroductionToHumanoidRobotics:Springer的《类人机器人简介》的Matlab代码
NR法matlab代码人形机器人简介
Springer的《类人机器人简介》的Matlab代码
[用法]在Matlab的命令行中键入以下命令。
第2节运动学ulink_example：递归调用编程的示例（2.4.2）fk_random：绘制具有任意关节角度的两足动物机器人（2.5.2）ik_random：绘制具有随机脚部位置和方向的机器人（2.5.3）ik_random2：ik_random带有数值倒数kinemaitcs（2.5.4）ik_stretch_NR：奇异性下的Newton-Raphson方法的行为ik_stretch_LM：使用奇异性鲁棒逆的Levenberg-Marqardt方法
第3节ZMP和Dynamcis
calcurate_zmp：显示两足机器人的ZMP（IZMP）和CoM投影（3.4.1）
第6节动态模拟：bodybody_rotate：在零重力下对刚体旋转进行动画处理（6.1.2）screw_motion：恒定空间速度下的刚体单向运动（6.2.2）刚体fly：在零重力下进行刚体平移和旋转（6.3.3）
：动画动画（6.3.4）robot_simulation：
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