MATLAB基礎(chǔ)與機(jī)器人學(xué)應(yīng)用

第 1 章 MATLAB 簡介 .........................................................................................................1
1.1 概述............................................................................................................................1
1.2 用戶界面與基本操作................................................................................................1
1.2.1 功能界面.........................................................................................................2
1.2.2 命令行窗口.....................................................................................................2
1.2.3 幫助系統(tǒng).........................................................................................................4
1.3 數(shù)據(jù)與變量基礎(chǔ)........................................................................................................7
1.3.1 基本數(shù)據(jù)類型.................................................................................................7
1.3.2 變量命名.........................................................................................................7
1.3.3 變量賦值.........................................................................................................8
1.4 本章小結(jié)....................................................................................................................8
習(xí)題...................................................................................................................................9 第 2 章 MATLAB 基本運(yùn)算 ...............................................................................................10
2.1 矩陣運(yùn)算..................................................................................................................10
2.1.1 矩陣生成與訪問...........................................................................................10
2.1.2 矩陣基本運(yùn)算...............................................................................................14
2.1.3 矩陣函數(shù).......................................................................................................17
2.2 數(shù)值運(yùn)算..................................................................................................................19
2.2.1 基本數(shù)學(xué)函數(shù)...............................................................................................19
2.2.2 多項(xiàng)式運(yùn)算...................................................................................................19
2.2.3 線性方程組求解...........................................................................................24
2.3 符號(hào)運(yùn)算..................................................................................................................25
2.3.1 創(chuàng)建符號(hào)對(duì)象...............................................................................................25
2.3.2 符號(hào)對(duì)象運(yùn)算...............................................................................................26
2.3.3 符號(hào)微積分...................................................................................................28
2.4 本章小結(jié)..................................................................................................................31
習(xí)題.................................................................................................................................32
第 3 章 MATLAB 程序設(shè)計(jì) ...............................................................................................33
3.1 M 文件......................................................................................................................33
3.1.1 腳本 M 文件.................................................................................................33
3.1.2 函數(shù) M 文件.................................................................................................34
3.1.3 內(nèi)聯(lián)函數(shù).......................................................................................................39
3.2 數(shù)據(jù)的輸入與輸出..................................................................................................40
3.2.1 用戶輸入提示命令 input..............................................................................40
3.2.2 請(qǐng)求鍵盤輸入命令 keyboard.......................................................................40
3.2.3 屏幕輸出語句 disp .......................................................................................42
3.2.4 其他相關(guān)命令...............................................................................................43
3.3 程序控制結(jié)構(gòu)..........................................................................................................44
3.3.1 順序結(jié)構(gòu).......................................................................................................45
3.3.2 選擇結(jié)構(gòu).......................................................................................................45
3.3.3 循環(huán)結(jié)構(gòu).......................................................................................................49
3.4 程序調(diào)試..................................................................................................................52
3.4.1 概述...............................................................................................................52
3.4.2 調(diào)試方法.......................................................................................................53
3.5 本章小結(jié)..................................................................................................................54
習(xí)題.................................................................................................................................55
第 4 章 MATLAB 數(shù)據(jù)分析與處理 ...................................................................................56
4.1 數(shù)據(jù)插值與擬合......................................................................................................56
4.1.1 數(shù)據(jù)插值.......................................................................................................56
4.1.2 數(shù)據(jù)擬合.......................................................................................................61
4.2 數(shù)值微積分..............................................................................................................62
4.2.1 數(shù)值微分.......................................................................................................62
4.2.2 數(shù)值積分.......................................................................................................62
4.3 零極點(diǎn)問題..............................................................................................................64
4.3.1 求零點(diǎn)...........................................................................................................64
4.3.2 求極值...........................................................................................................66
4.4 常微分方程的求解..................................................................................................67
4.4.1 常微分方程的解析解...................................................................................67
4.4.2 常微分方程的數(shù)值解...................................................................................68
4.5 本章小結(jié)..................................................................................................................72
習(xí)題.................................................................................................................................73
第 5 章 MATLAB 繪圖 .......................................................................................................

第 6 章 機(jī)器人工具箱建模與仿真.....................................................................................96
第 7 章 機(jī)器人學(xué) Simulink 仿真......................................................................................131
參考文獻(xiàn)...............................................................................................................................167