%% 绘制曲线图 figure ('Name','"SCARA Robot"机器人正运动学演示'); plot ( scara , q ) figure ('Name','机器人末端运动轨迹'); plot3(x,y,z,'r-o','MarkerFaceColor','r'); grid ; xlabel (' X '); ylabel (' Y '); zlabel (' Z '); figure ('Name','各关节的位移、速度和加速度曲线'); subplot (3,4,1); plot (t,q(:,1)); title ('关节1'); grid; ylabel('位移(rad )'); subplot (3,4,5); plot(t,qd(:,1)); grid; ylabel ('速度( rad/s )'); subplot (3,4,9); plot (t,qdd (:,1)); grid; xlabel('时间(s)'); ylabel ('加速度（rad/s^2)'); subplot (3,4,2); plot(t,q(:,2)); title('关节2'); grid; subplot(3,4,6); plot(t,qd(:,2)); grid; subplot(3,4,10); plot(t,qdd(:,2));grid ; xlabel('时间( s )'); subplot(3,4,3); plot(t,q(:,3)); title('关节3'); grid; subplot(3,4,7); plot(t,qd(:,3)); grid ; subplot(3,4,11); plot(t,qdd(:,3)); grid; xlabel('时间（ s )'); subplot (3,4,4); plot(t,q(:,4)); title('关节4'); grid; subplot(3,4,8); plot(t,qd(:,4)); grid; subplot(3,4,12); plot(t,qdd(:,4)); grid; xlabel('时间（ s )');