[??? A+, ??????? ??] ??? ?? ?? ?????

1. ?? ??
???? ?? ???? ?????, ?? ??? ?? ????? ????.
???? ?? ??? ?? ??? ??? ??? ??.

2. ?? ??
??/?? ??
???, ??

???
6? ????? ?? (VP-6242M)
??? ?????
??? ??? 1?

??
2260??
230??
150??

3. ?? ? ??
3.1. ??? ??? ??? ??? trajectory? ?? ??? ????, ? ??? ?? ?? ??? ??.

< ? ? >

5.1.?? ????? ?? ? Trajectory Function? ?? ???? ???, ????? ?? plot??, 3? ???? ???? ??? ? ? ??? ????.

Joint1? ???? ??? ?? ??? ??? ??? ??. Joint2,3 ? ???? ?? ??? ??? ??? ???? Trajectory ?(j1T0_3, j1T3_6, j1T3_10, j1T6_10)? ???.

Joint1? ?? Matlab code
clear all
a=xlsread('Shin_4_Trajectory1.xlsx'); %?? ?? ????
ji1=a(:,1); jo1=a(:,2); %ji1: joint1? ??? , jo1: joint1? ????
ji2=a(:,5); jo2=a(:,6); %ji2: joint2? ??? , jo2: joint2? ????
ji3=a(:,9); jo3=a(:,10); %ji3: joint3? ??? , jo3: joint3?????

t=0:0.008:1396*0.008;
Ti1=0:0.008:3;
Ti2=3.008:0.008:1396*0.008;

j1T0_3=(-60.0)+(-0.00.*Ti1)+(5.00.*Ti1.^2)+(8.814815.*Ti1.^3)+(-5.055556.*Ti1.^4)+(0.698765.*Ti1.^5);