哪位大虾帮忙看看这个程序

无悔四月

我这个老是出不来结果！

1. %%%%%%%%%%%%%%%%%%%%%%%%%%基本参数
   
2. x1=0;%%%%%%%一杆的初始转角
   
3. x2=0;%%%%%%%二杆的初始转角
   
4. x3=0;%%%%%%%三杆的初始转角
   
5. x4=0;%%%%%%%四杆的初始转角
   
6. x5=0;%%%%%%%五杆的初始转角
   
7. x6=0;%%%%%%%六杆的初始转角
   
8. d1=0.3875;%%%%%%%一杆的长度
   
9. d4=0.268;%%%%%%%四杆的长度
   
10. d6=0.1655;%%%%%%%六杆的长度
    
11. a2=0.230;%%%%%%%二杆的长度
    
12. a3=0.107;%%%%%%%三杆的长度
    
13. m1=25;%%%%%%%一杆的质量
    
14. m2=15.5;%%%%%%%二杆的质量
    
15. m3=10.6;%%%%%%%三杆的质量
    
16. m4=7.2;%%%%%%%四杆的质量
    
17. m5=5.7;%%%%%%%五杆的质量
    
18. m6=1.5;%%%%%%%六杆的质量
    
19. x1x1=0;x2x2=0;x3x3=0;x4x4=0;x5x5=0;x6x6=0;%%%%%%%%角速度
    
20. x1x1x1=0;x2x2x2=0;x3x3x3=0;x4x4x4=0;x5x5x5=0;x6x6x6=0;%%%%%%%角加速度
    
21. for n=0:0.1:2
    
22. step=0.1;%%%%%%%%%%%%%%%%时间间隔
    
23. %%%%%%%%%%%%%%%%%%%%%%%%角度相关参数
    
24. c1=cos(x1/(2*pi));
    
25. c2=cos(x2/(2*pi));
    
26. c3=cos(x3/(2*pi));
    
27. c4=cos(x4/(2*pi));
    
28. c5=cos(x5/(2*pi));
    
29. c6=cos(x6/(2*pi));
    
30. s1=sin(x1/(2*pi));
    
31. s2=sin(x2/(2*pi));
    
32. s3=sin(x3/(2*pi));
    
33. s4=sin(x4/(2*pi));
    
34. s5=sin(x5/(2*pi));
    
35. s6=sin(x6/(2*pi));
    
36. %%%%%%%%%%%%%%%%%%%%%%%变换矩阵计算
    
37. t1=[c1 0 -s1 0;s1 0 c1 0;0 -1 0 d1;0 0 0 1];
    
38. t2=[c2 -s2 0 a2*c2;s2 c2 0 a2*s2;0 0 1 0;0 0 0 1];
    
39. t3=[c3 0 -s3 a3*c3;s3 0 c3 a3*s3;0 -1 0 0;0 0 0 1];
    
40. t4=[c4 0 s4 0;s4 0 -c4 0;0 1 0 d4;0 0 0 1];
    
41. t5=[c5 0 -s5 0;s5 0 c5 0;0 -1 0 0;0 0 0 1];
    
42. t6=[c6 -s6 0 0;s6 c6 0 0;0 0 1 d6;0 0 0 1];
    
43. t=t1*t2*t3*t4*t5*t6;
    
44. Qi=[0 -1 0 0;1 0 0 0;0 0 0 0;0 0 0 0];%%%%%%%%%%%%矩阵
    
45. %%%%%%%%%%%%%%%%%%%%%%%%偏导数
    
46. U11=1*Qi*t1;
    
47. U12=0;
    
48. U13=0;
    
49. U14=0;
    
50. U15=0;
    
51. U16=0;
    
52. U21=1*Qi*t1*t2;
    
53. U22=t1*Qi*t2;
    
54. U23=0;
    
55. U24=0;
    
56. U25=0;
    
57. U26=0;
    
58. U31=1*Qi*t1*t2*t3;
    
59. U32=t1*Qi*t2*t3;
    
60. U33=t1*t2*Qi*t3;
    
61. U34=0;
    
62. U35=0;
    
63. U36=0;
    
64. U41=1*Qi*t1*t2*t3*t4;
    
65. U42=t1*Qi*t2*t3*t4;
    
66. U43=t1*t2*Qi*t3*t4;
    
67. U44=t1*t2*t3*Qi*t4;
    
68. U45=0;
    
69. U46=0;
    
70. U51=1*Qi*t1*t2*t3*t4*t5;
    
71. U52=t1*Qi*t2*t3*t4*t5;
    
72. U53=t1*t2*Qi*t3*t4*t5;
    
73. U54=t1*t2*t3*Qi*t4*t5;
    
74. U55=t1*t2*t3*t4*Qi*t5;
    
75. U56=0;
    
76. U61=1*Qi*t1*t2*t3*t4*t5*t6;
    
77. U62=t1*Qi*t2*t3*t4*t5*t6;
    
78. U63=t1*t2*Qi*t3*t4*t5*t6;
    
79. U64=t1*t2*t3*Qi*t4*t5*t6;
    
80. U65=t1*t2*t3*t4*Qi*t5*t6;
    
81. U66=t1*t2*t3*t4*t5*Qi*t6;
    
82. %%%%%%%%%%%%%%%%%%%%%%%%%%%伪惯量矩阵
    
83. I1=[(-d1^2*m1+d1^2*m1+0)/2 0 0 0;0 (d1^2*m1-d1^2*m1+0)/2 0 0;0 0 (d1^2*m1+d1^2*m1-0)/2 m1*d1;0 0 m1*d1 m1];
    
84. I2=[(-((a2*cos(x2))^2+(a2*sin(x2))^2)*m2+(a2*sin(x2))^2*m2+(a2*cos(x2))^2*m2)/2 0 0 0;
    
85. 0 (((a2*cos(x2))^2+(a2*sin(x2))^2)*m2-(a2*sin(x2))^2*m2+(a2*cos(x2))^2*m2)/2 -a2*cos(x2)*a2*sin(x2) m2*a2*cos(x2);
    
86. 0 -a2*cos(x2)*a2*sin(x2) (((a2*cos(x2))^2+(a2*sin(x2)^2)*m2+(a2*sin(x2))^2*m2-(a2*cos(x2))^2*m2))/2 a2*sin(x2)*m2;
    
87. 0 a2*cos(x2)*m2 a2*sin(x2)*m2 m2];
    
88. I3=[(-((a3*cos(x3))^2+(a3*sin(x3))^2)*m3+(a3*sin(x3))^2*m3+(a3*cos(x3))^2*m3)/2 0 0 0;
    
89. 0 (((a3*cos(x3))^2+(a3*sin(x3))^2)*m3-(a3*sin(x3))^2*m3+(a3*cos(x3))^2*m3)/2 -a3*cos(x3)*a3*sin(x3) m3*a3*cos(x3);
    
90. 0 -a3*cos(x3)*a3*sin(x3) (((a3*cos(x3))^2+(a3*sin(x3)^2)*m3+(a3*sin(x3))^2*m3-(a3*cos(x3))^2*m3))/2 a3*sin(x3)*m3;
    
91. 0 a3*cos(x3)*m3 a3*sin(x3)*m3 m3];
    
92. I4=[(-d4^2*m4+0+d4^2*m4)/2 0 0 0;0 (d4^2*m4-0+d4^2*m4)/2 0 m4*d4;0 0 (d4^2*m4+0-d4^2*m4)/2 0;0 m4*d4 0 m4];
    
93. I5=[0 0 0 0;0 0 0 0;0 0 0 0;0 0 0 m5];
    
94. I6=[(-d6^2*m6+d6^2*m6+0)/2 0 0 0;0 (d6^2*m6-d6^2*m6+0)/2 0 0;0 0 (d6^2*m6+d6^2*m6-0)/2 m6*d6;0 0 m6*d6 m6];
    
95. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%加速度相关的对称矩阵
    
96. D11=trace(U11*I1*U11')+trace(U21*I2*U21')+trace(U31*I3*U31')+trace(U41*I4*U41')+trace(U51*I5*U51')+trace(U61*I6*U61');
    
97. D12=trace(U22*I2*U21')+trace(U32*I3*U31')+trace(U42*I4*U41')+trace(U52*I5*U51')+trace(U62*I6*U61');
    
98. D13=trace(U33*I3*U31')+trace(U43*I4*U41')+trace(U53*I5*U53')+trace(U63*I6*U63');
    
99. D14=trace(U44*I4*U41')+trace(U54*I5*U51')+trace(U64*I6*U61');
    
100. D15=trace(U55*I5*U51')+trace(U65*I6*U61');
     
101. D16=trace(U66*I6*U61');
     
102. D22=trace(U22*I2*U22')+trace(U32*I3*U32')+trace(U42*I4*U42')+trace(U52*I5*U52')+trace(U62*I6*U62');
     
103. D23=trace(U33*I3*U32')+trace(U43*I4*U42')+trace(U53*I5*U52')+trace(U63*I6*U62');
     
104. D24=trace(U44*I4*U42')+trace(U54*I5*U52')+trace(U64*I6*U62');
     
105. D25=trace(U55*I5*U52')+trace(U65*I6*U62');
     
106. D26=trace(U66*I6*U62');
     
107. D33=trace(U33*I3*U33')+trace(U43*I4*U43')+trace(U53*I5*U53')+trace(U63*I6*U63');
     
108. D34=trace(U44*I4*U43')+trace(U54*I5*U53')+trace(U64*I6*U63');
     
109. D35=trace(U55*I5*U53')+trace(U65*I6*U63');
     
110. D36=trace(U66*I6*U63');
     
111. D44=trace(U44*I4*U44')+trace(U54*I5*U54')+trace(U64*I6*U64');
     
112. D45=trace(U55*I5*U54')+trace(U65*I6*U64');
     
113. D46=trace(U66*I6*U64');
     
114. D55=trace(U55*I5*U55')+trace(U65*I6*U65');
     
115. D56=trace(U66*I6*U65');
     
116. D66=trace(U66*I6*U66');
     
117. D=[D11 D12 D13 D14 D15 D16;D12 D22 D23 D24 D25 D26;D13 D23 D33 D34 D35 D36;
     
118. D14 D24 D34 D44 D45 D46;D24 34 35 D45 D55 D56;D14 D24 D34 D46 D56 D66];
     
119. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%科氏力和向心力项
     
120. h111=trace((U11*I1*U11)')+trace((U11*I2*U12)')+trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
     
121. h112=trace((U11*I2*U12)')+trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
     
122. h113=trace((U11*I3*U13)')+trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
     
123. h114=trace((U11*I4+U14)')+trace((U11*I5*U15)')+trace((U11*I6*U16)');
     
124. h115=trace((U11*I5*U15)')+trace((U11*I6*U16)');
     
125. h116=trace((U11*I6*U16)');
     
126. h121=trace((U12*I2*U12)')+trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
     
127. h122=trace((U12*I2*U12)')+trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
     
128. h123=trace((U12*I3*U13)')+trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
     
129. h124=trace((U12*I4*U14)')+trace((U12*I5*U15)')+trace((U12*I6*U16)');
     
130. h125=trace((U12*I5*U15)')+trace((U12*I6*U16)');
     
131. h126=trace((U12*I6*U16)');
     
132. h131=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
     
133. h132=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
     
134. h133=trace((U13*I3*U13)')+trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
     
135. h134=trace((U13*I4*U14)')+trace((U13*I5*U15)')+trace((U13*I6*U16)');
     
136. h135=trace((U13*I5*U15)')+trace((U13*I6*U16)');
     
137. h136=trace((U13*I6*U16)');
     
138. h141=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
     
139. h142=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
     
140. h143=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
     
141. h144=trace((U14*I4*U14)')+trace((U14*I5*U15)')+trace((U14*I6*U16)');
     
142. h145=trace((U14*I5*U15)')+trace((U14*I6*U16)');
     
143. h146=trace((U14*I6*U16)');
     
144. h151=trace((U15*I5*U15)')+trace((U15*I6*U16)');
     
145. h152=trace((U15*I5*U15)')+trace((U15*I6*U16)');
     
146. h153=trace((U15*I5*U15)')+trace((U15*I6*U16)');
     
147. h154=trace((U15*I5*U15)')+trace((U15*I6*U16)');
     
148. h155=trace((U15*I5*U15)')+trace((U15*I6*U16)');
     
149. h156=trace((U15*I6*U16)');
     
150. h161=trace((U16*I6*U16)');
     
151. h162=trace((U16*I6*U16)');
     
152. h163=trace((U16*I6*U16)');
     
153. h164=trace((U16*I6*U16)');
     
154. h165=trace((U16*I6*U16)');
     
155. h166=trace((U16*I6*U16)');
     
156. %%%%%%%%%%%%%%%%%%%%%%
     
157. h211=trace((U21*I2*U22)')+trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
     
158. h212=trace((U21*I2*U22)')+trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
     
159. h213=trace((U21*I3*U23)')+trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
     
160. h214=trace((U21*I4+U24)')+trace((U21*I5*U25)')+trace((U21*I6*U26)');
     
161. h215=trace((U21*I5*U25)')+trace((U21*I6*U26)');
     
162. h216=trace((U21*I6*U26)');
     
163. h221=trace((U22*I2*U22)')+trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
     
164. h222=trace((U22*I2*U22)')+trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U15)')+trace((U22*I6*U26)');
     
165. h223=trace((U22*I3*U23)')+trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
     
166. h224=trace((U22*I4*U24)')+trace((U22*I5*U25)')+trace((U22*I6*U26)');
     
167. h225=trace((U22*I5*U25)')+trace((U22*I6*U26)');
     
168. h226=trace((U22*I6*U26)');
     
169. h231=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
     
170. h232=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
     
171. h233=trace((U23*I3*U23)')+trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
     
172. h234=trace((U23*I4*U24)')+trace((U23*I5*U25)')+trace((U23*I6*U26)');
     
173. h235=trace((U23*I5*U25)')+trace((U23*I6*U26)');
     
174. h236=trace((U23*I6*U26)');
     
175. h241=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
     
176. h242=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
     
177. h243=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
     
178. h244=trace((U24*I4*U24)')+trace((U24*I5*U25)')+trace((U24*I6*U26)');
     
179. h245=trace((U24*I5*U25)')+trace((U24*I6*U26)');
     
180. h246=trace((U24*I6*U26)');
     
181. h251=trace((U25*I5*U25)')+trace((U25*I6*U26)');
     
182. h252=trace((U25*I5*U25)')+trace((U25*I6*U26)');
     
183. h253=trace((U25*I5*U25)')+trace((U25*I6*U26)');
     
184. h254=trace((U25*I5*U25)')+trace((U25*I6*U26)');
     
185. h255=trace((U25*I5*U25)')+trace((U25*I6*U26)');
     
186. h256=trace((U25*I6*U26)');
     
187. h261=trace((U26*I6*U26)');
     
188. h262=trace((U26*I6*U26)');
     
189. h263=trace((U26*I6*U26)');
     
190. h264=trace((U26*I6*U26)');
     
191. h265=trace((U26*I6*U26)');
     
192. h266=trace((U26*I6*U26)');
     
193. %%%%%%%%%%%%%%%%%%%%%%%%
     
194. h311=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
     
195. h312=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
     
196. h313=trace((U31*I3*U33)')+trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
     
197. h314=trace((U31*I4+U34)')+trace((U31*I5*U35)')+trace((U31*I6*U36)');
     
198. h315=trace((U31*I5*U35)')+trace((U31*I6*U36)');
     
199. h316=trace((U31*I6*U36)');
     
200. h321=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
     
201. h322=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
     
202. h323=trace((U32*I3*U33)')+trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
     
203. h324=trace((U32*I4*U34)')+trace((U32*I5*U35)')+trace((U32*I6*U36)');
     
204. h325=trace((U32*I5*U35)')+trace((U32*I6*U36)');
     
205. h326=trace((U32*I6*U36)');
     
206. h331=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
     
207. h332=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
     
208. h333=trace((U33*I3*U33)')+trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
     
209. h334=trace((U33*I4*U34)')+trace((U33*I5*U35)')+trace((U33*I6*U36)');
     
210. h335=trace((U33*I5*U35)')+trace((U33*I6*U36)');
     
211. h336=trace((U33*I6*U36)');
     
212. h341=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
     
213. h342=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
     
214. h343=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
     
215. h344=trace((U34*I4*U34)')+trace((U34*I5*U35)')+trace((U34*I6*U36)');
     
216. h345=trace((U34*I5*U35)')+trace((U34*I6*U36)');
     
217. h346=trace((U34*I6*U36)');
     
218. h351=trace((U35*I5*U35)')+trace((U35*I6*U36)');
     
219. h352=trace((U35*I5*U35)')+trace((U35*I6*U36)');
     
220. h353=trace((U35*I5*U35)')+trace((U35*I6*U36)');
     
221. h354=trace((U35*I5*U35)')+trace((U35*I6*U36)');
     
222. h355=trace((U35*I5*U35)')+trace((U35*I6*U36)');
     
223. h356=trace((U35*I6*U36)');
     
224. h361=trace((U36*I6*U36)');
     
225. h362=trace((U36*I6*U36)');
     
226. h363=trace((U36*I6*U36)');
     
227. h364=trace((U36*I6*U36)');
     
228. h365=trace((U36*I6*U36)');
     
229. h366=trace((U36*I6*U36)');
     
230. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
     
231. h411=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
     
232. h412=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
     
233. h413=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
     
234. h414=trace((U41*I4+U44)')+trace((U41*I5*U45)')+trace((U41*I6*U46)');
     
235. h415=trace((U41*I5*U45)')+trace((U41*I6*U46)');
     
236. h416=trace((U41*I6*U46)');
     
237. h421=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
     
238. h422=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
     
239. h423=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
     
240. h424=trace((U42*I4*U44)')+trace((U42*I5*U45)')+trace((U42*I6*U46)');
     
241. h425=trace((U42*I5*U45)')+trace((U42*I6*U46)');
     
242. h426=trace((U42*I6*U46)');
     
243. h431=trace((U43*I4*U44)')+trace((U43*I5*U45)')+trace((U43*I6*U46)');
     
244. h432=trace((U43*I4*U44)')+trace((U43*I5*U45)')+trace((U43*I6*U46)');
     
245. h433=trace((U43*I4*U44)')+trace((U43*I5*U45)')+trace((U43*I6*U46)');
     
246. h434=trace((U43*I4*U44)')+trace((U43*I5*U45)')+trace((U43*I6*U46)');
     
247. h435=trace((U43*I5*U45)')+trace((U43*I6*U46)');
     
248. h436=trace((U43*I6*U46)');
     
249. h441=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
     
250. h442=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
     
251. h443=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
     
252. h444=trace((U44*I4*U44)')+trace((U44*I5*U45)')+trace((U44*I6*U46)');
     
253. h445=trace((U44*I5*U45)')+trace((U44*I6*U46)');
     
254. h446=trace((U44*I6*U46)');
     
255. h451=trace((U45*I5*U45)')+trace((U45*I6*U46)');
     
256. h452=trace((U45*I5*U45)')+trace((U45*I6*U46)');
     
257. h453=trace((U45*I5*U45)')+trace((U45*I6*U46)');
     
258. h454=trace((U45*I5*U45)')+trace((U45*I6*U46)');
     
259. h455=trace((U45*I5*U45)')+trace((U45*I6*U46)');
     
260. h456=trace((U45*I6*U46)');
     
261. h461=trace((U46*I6*U46)');
     
262. h462=trace((U46*I6*U46)');
     
263. h463=trace((U46*I6*U46)');
     
264. h464=trace((U46*I6*U46)');
     
265. h465=trace((U46*I6*U46)');
     
266. h466=trace((U46*I6*U46)');
     
267. %%%%%%%%%%%%%%%%%%%%%%%%%%%%%
     
268. h511=trace((U51*I5*U55)')+trace((U51*I6*U56)');
     
269. h512=trace((U51*I5*U55)')+trace((U51*I6*U56)');
     
270. h513=trace((U51*I5*U55)')+trace((U51*I6*U56)');
     
271. h514=trace((U51*I5*U55)')+trace((U51*I6*U56)');
     
272. h515=trace((U51*I5*U55)')+trace((U51*I6*U56)');
     
273. h516=trace((U51*I6*U56)');
     
274. h521=trace((U52*I5*U55)')+trace((U52*I6*U56)');
     
275. h522=trace((U52*I5*U55)')+trace((U52*I6*U56)');
     
276. h523=trace((U52*I5*U55)')+trace((U52*I6*U56)');
     
277. h524=trace((U52*I5*U55)')+trace((U52*I6*U56)');
     
278. h525=trace((U52*I5*U55)')+trace((U52*I6*U56)');
     
279. h526=trace((U52*I6*U56)');
     
280. h531=trace((U53*I5*U55)')+trace((U53*I6*U56)');
     
281. h532=trace((U53*I5*U55)')+trace((U53*I6*U56)');
     
282. h533=trace((U53*I5*U55)')+trace((U53*I6*U56)');
     
283. h534=trace((U53*I5*U55)')+trace((U53*I6*U56)');
     
284. h535=trace((U53*I5*U55)')+trace((U53*I6*U56)');
     
285. h536=trace((U53*I6*U56)');
     
286. h541=trace((U54*I5*U55)')+trace((U54*I6*U56)');
     
287. h542=trace((U54*I5*U55)')+trace((U54*I6*U56)');
     
288. h543=trace((U54*I5*U55)')+trace((U54*I6*U56)');
     
289. h544=trace((U54*I5*U55)')+trace((U54*I6*U56)');
     
290. h545=trace((U54*I5*U55)')+trace((U54*I6*U56)');
     
291. h546=trace((U54*I6*U56)');
     
292. h551=trace((U55*I5*U55)')+trace((U55*I6*U56)');
     
293. h552=trace((U55*I5*U55)')+trace((U55*I6*U56)');
     
294. h553=trace((U55*I5*U55)')+trace((U55*I6*U56)');
     
295. h554=trace((U55*I5*U55)')+trace((U55*I6*U56)');
     
296. h555=trace((U55*I5*U55)')+trace((U55*I6*U56)');
     
297. h556=trace((U55*I6*U56)');
     
298. h561=trace((U56*I6*U56)');
     
299. h562=trace((U56*I6*U56)');
     
300. h563=trace((U56*I6*U56)');
     
301. h564=trace((U56*I6*U46)');
     
302. h565=trace((U56*I6*U56)');
     
303. h566=trace((U56*I6*U56)');
     
304. %%%%%%%%%%%%%%%%%%%%%%%%%%
     
305. h611=trace((U61*I6*U66)');
     
306. h612=trace((U61*I6*U66)');
     
307. h613=trace((U61*I6*U66)');
     
308. h614=trace((U61*I6*U66)');
     
309. h615=trace((U61*I6*U66)');
     
310. h616=trace((U61*I6*U66)');
     
311. h621=trace((U62*I6*U66)');
     
312. h622=trace((U62*I6*U66)');
     
313. h623=trace((U62*I6*U66)');
     
314. h624=trace((U62*I6*U66)');
     
315. h625=trace((U62*I6*U66)');
     
316. h626=trace((U62*I6*U66)');
     
317. h631=trace((U63*I6*U66)');
     
318. h632=trace((U63*I6*U66)');
     
319. h633=trace((U63*I6*U66)');
     
320. h634=trace((U63*I6*U66)');
     
321. h635=trace((U63*I6*U66)');
     
322. h636=trace((U63*I6*U66)');
     
323. h641=trace((U64*I6*U66)');
     
324. h642=trace((U64*I6*U66)');
     
325. h643=trace((U64*I6*U66)');
     
326. h644=trace((U64*I6*U66)');
     
327. h645=trace((U64*I6*U66)');
     
328. h646=trace((U64*I6*U66)');
     
329. h651=trace((U65*I6*U66)');
     
330. h652=trace((U65*I6*U66)');
     
331. h653=trace((U65*I6*U66)');
     
332. h654=trace((U65*I6*U66)');
     
333. h655=trace((U65*I6*U66)');
     
334. h656=trace((U65*I6*U66)');
     
335. h661=trace((U66*I6*U66)');
     
336. h662=trace((U66*I6*U66)');
     
337. h663=trace((U66*I6*U66)');
     
338. h664=trace((U66*I6*U66)');
     
339. h665=trace((U66*I6*U66)');
     
340. h666=trace((U66*I6*U66)');
     
341. h1=[h111 h112 h113 h114 h115 h116;h112 h122 h123 h124 h125 h126;h113 h123 h133 h134 h135 h136;
     
342. h114 h124 h134 h144 h145 h146;h115 h125 h135 h145 h155 h156;h116 h126 h136 h146 h156 h166];
     
343. h2=[h211 h212 h213 h214 h215 h216;h212 h222 h223 h224 h225 h226;h213 h223 h233 h234 h235 h236;
     
344. h214 h224 h234 h244 h245 h246;h215 h225 h235 h245 h255 h256;h216 h226 h236 h246 h256 h266];
     
345. h3=[h311 h312 h313 h314 h315 h316;h312 h322 h323 h324 h325 h326;h313 h323 h333 h334 h335 h336;
     
346. h314 h324 h334 h344 h345 h346;h315 h325 h335 h345 h355 h356;h316 h326 h336 h346 h356 h366];
     
347. h4=[h411 h412 h413 h414 h415 h416;h412 h422 h423 h424 h425 h426;h413 h423 h433 h434 h435 h436;
     
348. h414 h424 h434 h444 h445 h446;h415 h425 h435 h445 h455 h456;h416 h426 h436 h446 h456 h466];
     
349. h5=[h511 h512 h513 h514 h515 h516;h512 h522 h523 h524 h525 h526;h513 h523 h533 h534 h535 h536;
     
350. h514 h524 h534 h544 h545 h546;h515 h525 h535 h545 h555 h556;h516 h526 h536 h546 h556 h566];
     
351. h6=[h611 h612 h613 h614 h615 h616;h612 h622 h623 h624 h625 h626;h613 h623 h633 h634 h635 h636;
     
352. h614 h624 h634 h644 h645 h646;h615 h625 h635 h645 h655 h656;h616 h626 h636 h646 h656 h666];
     
353. %;H=[h1;h2;h3;h4;h5;h6]
     
354. H=[h1*(x1)*(x1)';h2*(x2)*(x2x2)';h3*(x3x3)*(x3x3)';h4*(x4x4)*(x4x4)';h5*(x5x5)*(x5x5)';h6*(x6x6)*(x6x6)']
     
355. %%%%%%%%%%%%%%%%%%%%重力项
     
356. g=[0 -9.8 0 0];
     
357. r1=[0;0;387.5;1];
     
358. r2=[0;0;230;1];
     
359. r3=[107;0;0;1];
     
360. r4=[0;268;0;1];
     
361. r5=[0;0;0;1];
     
362. r6=[0;0;165.5;1];
     
363. R=[r1;r2;r3;r4;r5;r6];
     
364. c1=-(m1*g*U11*r1+m2*g*U21*r2+m3*g*U31*r3+m4*g*U41*r4+m5*g*U51*r5+m6*g*U61*r6);
     
365. c2=-(m2*g*U22*r2+m3*g*U32*r3+m4*g*U42*r4+m5*g*U52*r5+m6*g*U62*r6);
     
366. c3=-(m3*g*U33*r3+m4*g*U43*r4+m5*g*U53*r5+m6*g*U63*r6);
     
367. c4=-(m4*g*U44*r4+m5*g*U54*r5+m6*g*U64*r6);
     
368. c5=-(m5*g*U55*r5+m6*g*U66*r6);
     
369. c6=-m6*g*U66*r6;
     
370. C=[c1 c2 c3 c4 c5 c6]';
     
371. %%%%%%%%%%%%%%%%%%%%以下是输入转矩函数T的分量（各电机的转矩）
     
372. T1=2.84*sin(n/6+pi/2)
     
373. T2=2.39*sin(n/6+pi/2)
     
374. T3=1.35*sin(n/6+pi/2)
     
375. T4=0.72*sin(n/6+pi/2)
     
376. T5=0.317*sin(n/6+pi/2)
     
377. T6=0.317*sin(n/6+pi/2)
     
378. %%%%%%%%%%%%%%%%%%%%%%%%以下是电机的转矩函数T
     
379. T=[T1;T2;T3;T4;T5;6];
     
380. %%%%%%%%%Y表示变量
     
381. W=[x1,x2,x3,x4,x5,x6]';%%%初始参数
     
382. WW=[x1x1,x2x2,x3x3,x4x4,x5x5,x6x6]';%%%一阶导
     
383. WWW=[x1x1x1,x2x2x2,x3x3x3,x4x4x4,x5x5x5,x6x6x6]';%%%上一时间的二阶导
     
384. Q2=inv(D)*(T-h3*WW-C.*W)
     
385. 
     
386. W1=inv(h3+(1/(step*step))*D)*(T-C+D*((1/(step*step))*W+1/step.*WW-(1/2)*WWW));
     
387. WWW1=1/(step*step)*(W1-W)-1/step.*WW+(1/2)*WWW;
     
388. WW1=WW+step.*WWW1;
     
389. x1=W1(1,1);x2=W1(2,1);x3=W1(3,1);x4=W1(4,1);x5=W1(5,1);x6=W1(6,1);
     
390. x1x1=WW1(1,1);x2x2=WW1(2,1);x3x3=WW1(3,1);x4x4=WW1(4,1);x5x5=WW1(5,1);x6x6=WW1(6,1);
     
391. x1x1x1=WWW1(1,1);x2x2x2=WWW1(2,1);x3x3x3=WWW1(3,1);x4x4x4=WWW1(4,1);x5x5x5=WWW(5,1);x6x6x6=WWW1(6,1);
     
392. hold on
     
393. %%%%%%%%%%%%以下作出电机的输入图
     
394. plot(n,Q2)
     
395. 
     
396. end

复制代码

[ 本帖最后由 sigma665 于 2008-6-2 21:06 编辑 ]

无悔四月

麻烦帮忙找错，我是MATLAB菜鸟啊！

无悔四月

为什么所有数结果都变成了NaN

sigma665

请注意你的求助技巧
一句话，一个附件
别人都懒得去下载你的附件
而你又只有一句话

求助的时候要考虑尽量的方便别人

无悔四月

谢谢提醒，请问能否帮忙看看？
这是一个关于六连杆机器人的动力学仿真的

sjdwjt

你这程序做的也太。。。。。我想没人乐意看，头大啊，明明可以简化，写这么多，晕啊:@o