Matlab在一個循環中乘以矩陣

我是新來的matlab，我試圖創建一個循環，將生成6矩陣和乘法產生它們（有點像計數器）的所有結果矩陣。你可以看到我的循環波紋管：Matlab在一個循環中乘以矩陣

for i=1:6 
    A = [ cosd(th(i)) -cosd(alpha(i))*sind(th(i)) sind(alpha(i))*sind(th(i)) L(i)*cosd(th(i)); ... 
      sind(th(i)) cosd(alpha(i))*cosd(th(i)) -sind(alpha(i))*cosd(th(i)) L(i)*sind(th(i)); ... 
       0 sind(alpha(i)) cosd(alpha(i)) d(i);... 
       0 0 0 1]; 
    j = i-1; 
    fprintf('DH Matrix A%d%d equals to\n', i-1, i); 
    disp(A); 
end

，我想它做的事。如果你想使用循環創建單位矩陣作爲初始值，在循環乘前面的結果有以下

A01 = [ cos(th(1)) -cos(alpha(1))*sin(th(1)) sin(alpha(1))*sin(th(1)) L(1)*cos(th(1)); ... 
      sin(th(1)) cos(alpha(1))*cos(th(1)) -sin(alpha(1))*cos(th(1)) L(1)*sin(th(1)); ... 
      0 sin(alpha(1)) cos(alpha(1)) d(1);... 
      0 0 0 1]; 

A12 = [ cos(th(2)) -cos(alpha(2))*sin(th(2)) sin(alpha(2))*sin(th(2)) L(2)*cos(th(2)); ... 
      sin(th(2)) cos(alpha(2))*cos(th(2)) -sin(alpha(2))*cos(th(2)) L(2)*sin(th(2)); ... 
      0 sin(alpha(2)) cos(alpha(2)) d(2);... 
      0 0 0 1]; 

A23 = [ cos(th(3)) -cos(alpha(3))*sin(th(3)) sin(alpha(3))*sin(th(3)) L(3)*cos(th(3)); ... 
      sin(th(3)) cos(alpha(3))*cos(th(3)) -sin(alpha(3))*cos(th(3)) L(3)*sin(th(3)); ... 
      0 sin(alpha(3)) cos(alpha(3)) d(3);... 
      0 0 0 1]; 

A34 = [ cos(th(4)) -cos(alpha(4))*sin(th(4)) sin(alpha(4))*sin(th(4)) L(4)*cos(th(4)); ... 
      sin(th(4)) cos(alpha(4))*cos(th(4)) -sin(alpha(4))*cos(th(4)) L(4)*sin(th(4)); ... 
      0 sin(alpha(4)) cos(alpha(4)) d(4);... 
      0 0 0 1]; 

A45 = [ cos(th(5)) -cos(alpha(5))*sin(th(5)) sin(alpha(5))*sin(th(5)) L(5)*cos(th(5)); ... 
      sin(th(5)) cos(alpha(5))*cos(th(5)) -sin(alpha(5))*cos(th(5)) L(5)*sin(th(5)); ... 
      0 sin(alpha(5)) cos(alpha(5)) d(5);... 
      0 0 0 1]; 

A56 = [ cos(th(6)) -cos(alpha(6))*sin(th(6)) sin(alpha(6))*sin(th(6)) L(6)*cos(th(6)); ... 
      sin(th(6)) cos(alpha(6))*cos(th(6)) -sin(alpha(6))*cos(th(6)) L(6)*sin(th(6)); ... 
      0 sin(alpha(6)) cos(alpha(6)) d(6);... 
      0 0 0 1]; 

C = A01*A12*A23*A34*A45*A56; 
disp(C);

來源

2016-12-06 George

目前的結果是：

C =eye(4); 
for i=1:6 
    C =C* [ cosd(th(i)) -cosd(alpha(i))*sind(th(i)) sind(alpha(i))*sind(th(i)) L(i)*cosd(th(i)); ... 
     sind(th(i)) cosd(alpha(i))*cosd(th(i)) -sind(alpha(i))*cosd(th(i)) L(i)*sind(th(i)); ... 
      0 sind(alpha(i)) cosd(alpha(i)) d(i);... 
      0 0 0 1]; 

end

下面是一個矢量版本，您可避免循環：

Z=permute(zeros(1,6),[3 1 2]); 
O=permute(ones(1,6),[3 1 2]); 
I = permute(1:6,[3 1 2]); 
A0 = [ cosd(th(I)) -cosd(alpha(I)).*sind(th(I)) sind(alpha(I)).*sind(th(I)) L(I).*cosd(th(I)); ... 
     sind(th(I)) cosd(alpha(I)).*cosd(th(I)) -sind(alpha(I)).*cosd(th(I)) L(I).*sind(th(I)); ... 
      Z sind(alpha(I)) cosd(alpha(I)) d(I);... 
      Z Z Z O]; 
B = mat2cell(A0,4,4,ones(1,6)); 
C = mtimes(B{:})

來源

2016-12-06 04:43:30 rahnema1

Matlab在一個循環中乘以矩陣

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