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程序如下:
1):cali_fun_070826_5.m
function z=cali_fun_070826_5(x)
clc
%标定时参数c=[L1 L2 qc xp0 yp0 m n dm dn q1z q2z]
c=[270 250 5 280 -140 8 5 40 40 2 2]
L1=c(1);L2=c(2);qc=c(3);xp0=c(4);yp0=c(5);m=c(6);n=c(7);dm=c(8);dn=c(9);q1z=c(10);q2z=c(11);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%待标定参数q1z,q2z,qc,xp0,yp0,
%载入测量点的关节角度
encoder=load('ctest2');
[rencoder,lencoder]=size(encoder)
%计算关节转角
for i=0:(rencoder-1)
qa1(i+1,1)=encoder(i+1,1);
qa2(i+1,1)=encoder(i+1,2)+x(1)/180*pi;
w(i+1,1)=x(3)*cos(qa1(i+1,1))+x(4)*cos(qa1(i+1,1)+qa2(i+1,1))-rem(i,n)*dn*cos(x(2)/180*pi)+fix(i/n)*dm*sin(x(2)/180*pi);
%w(i+1,2)=x(3)*sin(qa1(i+1,1))+x(4)*sin(qa1(i+1,1)+qa2(i+1,1))-rem(i,n)*dn*sin(x(2)/180*pi)-fix(i/n)*dm*cos(x(2)/180*pi);
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for i=1:(rencoder-1)
z(i,1)=w(i+1,1)-w(i,1);
%z(i,2)=w(i+1,2)-w(i,2);
end
2)程序2
clc
disp(('>>标定运算中................'))
[x,fval,reason]=ga(@cali_fun_070826_5,4);
%查看标定结果。
x,fval,reason
ctest2为40行2列的已知数据,程序2运行后出现如下错误提示:
??? In an assignment A(:) = B, the number of elements in A and B
must be the same.
Error in ==> ga at 188
state.Score(thisPopulation) = score;
Error in ==> cali_ga_070910_1 at 6
[x,fval,reason]=ga(@cali_fun_070826_5,4);
不知道怎么修改,哪位行家帮着看看,怎么解决,谢谢! |