DHM模型系列机器人

这个程序计算出的直接和前作逆几何模式，直接和逆运动学模型，直接和逆动态模型

DHM
slprj
simulink
mex
CVS
@robot
@quaternion
@link
RELEASE
README
.DS_Store
accel.asv
accel.m
cinertia.m
Contents.m
coriolis.m
ctraj.m
demos.m
dh.m
diff2tr.m
drivebot.m
drivepar.m
dyn.m
eul2tr.m
examenMCR.m
fdyn.m
fdyn2.m
fkine.m
ftrans.m
gravload.m
ikine.m
ikine560.m
inertia.m
info.xml
ishomog.m
itorque.m
jacob0.m
jacobn.m
jtraj.m
link.m
Main_DHM.asv
Main_DHM.m
maniplty.m
MCD_1.m
MCD_2.asv
MCD_2.m
MCI_1.asv
MCI_1.m
MCI_2.asv
MCI_2.m
MCI_22.m
MGD.asv
MGD.m
miniprojet_cde_robot_1_computed_torque_sfun.mexw32
miniprojet_cde_robot_1_computed_torque_variations_dinercie_sfun.mexw32
numcols.m
numrows.m
oa2tr.m
plotbotopt.m
puma560.m
puma560akb.m
rne.asv
rne.m
robot.pdf
rotvec.m
rotx.m
roty.m
rotz.m
rpy2tr.m
rtandemo.m
rtdemo.m
rtfddemo.m
rtfkdemo.m
rtidemo.m
rtikdemo.m
rtjademo.m
rttgdemo.m
rttrdemo.m
stanford.m
tr2diff.m
tr2eul.m
tr2jac.m
tr2rot.m
tr2rpy.m
transl.m
trinterp.m
trnorm.m
twolink.m
unit.m