Robotiq 单指观察

 

程序：

clear all

clc

gama1 = 0.935

gama2 = 0.959

gama3 = 0.776

kr = 2.25

 

x1 = 0:0.1:pi

y1 = (x1-0.37).*(x1 <= gama1)+0.565*(x1 > gama1)

y1 = y1*180/pi

plot(x1,y1)

legend('y1')

% axis([0 3.2 -22 35])

hold on

grid on

 

x2 = 0:pi

y2 = 0*(x2 <= gama2)+kr*(x2-0.959).*(x2 > gama2)

y2 = y2*180/pi

plot(x2,y2)

hold on

% 

x3 = 0:pi

y3 = -(x3-0.37).*(x3 <= gama3)+(-0.354)*(x3 > gama3)

y3 = y3*180/pi

plot(x3,y3)