代码拉取完成，页面将自动刷新
function jj=iJack(o)
o1=o(1);
o2=o(2);
o3=o(3);
o4=o(4);
o5=o(5);
o6=o(6);
Jack=[ 0.10915*cos(o1) + 0.0823*cos(o1)*cos(o5) + 0.425*cos(o2)*sin(o1) - 0.39225*sin(o1)*sin(o2)*sin(o3) + 0.39225*cos(o2)*cos(o3)*sin(o1) - 0.094649999999999998023803016167221*cos(o2)*cos(o3)*sin(o1)*sin(o4) - 0.094649999999999998023803016167221*cos(o2)*cos(o4)*sin(o1)*sin(o3) - 0.094649999999999998023803016167221*cos(o3)*cos(o4)*sin(o1)*sin(o2) + 0.094649999999999998023803016167221*sin(o1)*sin(o2)*sin(o3)*sin(o4) + 0.0823*cos(o2)*cos(o3)*cos(o4)*sin(o1)*sin(o5) - 0.0823*cos(o2)*sin(o1)*sin(o3)*sin(o4)*sin(o5) - 0.0823*cos(o3)*sin(o1)*sin(o2)*sin(o4)*sin(o5) - 0.0823*cos(o4)*sin(o1)*sin(o2)*sin(o3)*sin(o5), 0.425*cos(o1)*sin(o2) + 0.39225*cos(o1)*cos(o2)*sin(o3) + 0.39225*cos(o1)*cos(o3)*sin(o2) + 0.094649999999999998023803016167221*cos(o1)*cos(o2)*cos(o3)*cos(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o2)*sin(o3)*sin(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o3)*sin(o2)*sin(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o4)*sin(o2)*sin(o3) + 0.0823*cos(o1)*cos(o2)*cos(o3)*sin(o4)*sin(o5) + 0.0823*cos(o1)*cos(o2)*cos(o4)*sin(o3)*sin(o5) + 0.0823*cos(o1)*cos(o3)*cos(o4)*sin(o2)*sin(o5) - 0.0823*cos(o1)*sin(o2)*sin(o3)*sin(o4)*sin(o5), 0.39225*cos(o1)*cos(o2)*sin(o3) + 0.39225*cos(o1)*cos(o3)*sin(o2) + 0.094649999999999998023803016167221*cos(o1)*cos(o2)*cos(o3)*cos(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o2)*sin(o3)*sin(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o3)*sin(o2)*sin(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o4)*sin(o2)*sin(o3) + 0.0823*cos(o1)*cos(o2)*cos(o3)*sin(o4)*sin(o5) + 0.0823*cos(o1)*cos(o2)*cos(o4)*sin(o3)*sin(o5) + 0.0823*cos(o1)*cos(o3)*cos(o4)*sin(o2)*sin(o5) - 0.0823*cos(o1)*sin(o2)*sin(o3)*sin(o4)*sin(o5), 0.094649999999999998023803016167221*cos(o1)*cos(o2)*cos(o3)*cos(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o2)*sin(o3)*sin(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o3)*sin(o2)*sin(o4) - 0.094649999999999998023803016167221*cos(o1)*cos(o4)*sin(o2)*sin(o3) + 0.0823*cos(o1)*cos(o2)*cos(o3)*sin(o4)*sin(o5) + 0.0823*cos(o1)*cos(o2)*cos(o4)*sin(o3)*sin(o5) + 0.0823*cos(o1)*cos(o3)*cos(o4)*sin(o2)*sin(o5) - 0.0823*cos(o1)*sin(o2)*sin(o3)*sin(o4)*sin(o5), 0.0823*cos(o1)*cos(o2)*cos(o5)*sin(o3)*sin(o4) - 0.0823*cos(o1)*cos(o2)*cos(o3)*cos(o4)*cos(o5) - 0.0823*sin(o1)*sin(o5) + 0.0823*cos(o1)*cos(o3)*cos(o5)*sin(o2)*sin(o4) + 0.0823*cos(o1)*cos(o4)*cos(o5)*sin(o2)*sin(o3), 0;
0.10915*sin(o1) - 0.425*cos(o1)*cos(o2) + 0.0823*cos(o5)*sin(o1) - 0.39225*cos(o1)*cos(o2)*cos(o3) + 0.39225*cos(o1)*sin(o2)*sin(o3) + 0.094649999999999998023803016167221*cos(o1)*cos(o2)*cos(o3)*sin(o4) + 0.094649999999999998023803016167221*cos(o1)*cos(o2)*cos(o4)*sin(o3) + 0.094649999999999998023803016167221*cos(o1)*cos(o3)*cos(o4)*sin(o2) - 0.094649999999999998023803016167221*cos(o1)*sin(o2)*sin(o3)*sin(o4) - 0.0823*cos(o1)*cos(o2)*cos(o3)*cos(o4)*sin(o5) + 0.0823*cos(o1)*cos(o2)*sin(o3)*sin(o4)*sin(o5) + 0.0823*cos(o1)*cos(o3)*sin(o2)*sin(o4)*sin(o5) + 0.0823*cos(o1)*cos(o4)*sin(o2)*sin(o3)*sin(o5), 0.425*sin(o1)*sin(o2) + 0.39225*cos(o2)*sin(o1)*sin(o3) + 0.39225*cos(o3)*sin(o1)*sin(o2) + 0.094649999999999998023803016167221*cos(o2)*cos(o3)*cos(o4)*sin(o1) - 0.094649999999999998023803016167221*cos(o2)*sin(o1)*sin(o3)*sin(o4) - 0.094649999999999998023803016167221*cos(o3)*sin(o1)*sin(o2)*sin(o4) - 0.094649999999999998023803016167221*cos(o4)*sin(o1)*sin(o2)*sin(o3) + 0.0823*cos(o2)*cos(o3)*sin(o1)*sin(o4)*sin(o5) + 0.0823*cos(o2)*cos(o4)*sin(o1)*sin(o3)*sin(o5) + 0.0823*cos(o3)*cos(o4)*sin(o1)*sin(o2)*sin(o5) - 0.0823*sin(o1)*sin(o2)*sin(o3)*sin(o4)*sin(o5), 0.39225*cos(o2)*sin(o1)*sin(o3) + 0.39225*cos(o3)*sin(o1)*sin(o2) + 0.094649999999999998023803016167221*cos(o2)*cos(o3)*cos(o4)*sin(o1) - 0.094649999999999998023803016167221*cos(o2)*sin(o1)*sin(o3)*sin(o4) - 0.094649999999999998023803016167221*cos(o3)*sin(o1)*sin(o2)*sin(o4) - 0.094649999999999998023803016167221*cos(o4)*sin(o1)*sin(o2)*sin(o3) + 0.0823*cos(o2)*cos(o3)*sin(o1)*sin(o4)*sin(o5) + 0.0823*cos(o2)*cos(o4)*sin(o1)*sin(o3)*sin(o5) + 0.0823*cos(o3)*cos(o4)*sin(o1)*sin(o2)*sin(o5) - 0.0823*sin(o1)*sin(o2)*sin(o3)*sin(o4)*sin(o5), 0.094649999999999998023803016167221*cos(o2)*cos(o3)*cos(o4)*sin(o1) - 0.094649999999999998023803016167221*cos(o2)*sin(o1)*sin(o3)*sin(o4) - 0.094649999999999998023803016167221*cos(o3)*sin(o1)*sin(o2)*sin(o4) - 0.094649999999999998023803016167221*cos(o4)*sin(o1)*sin(o2)*sin(o3) + 0.0823*cos(o2)*cos(o3)*sin(o1)*sin(o4)*sin(o5) + 0.0823*cos(o2)*cos(o4)*sin(o1)*sin(o3)*sin(o5) + 0.0823*cos(o3)*cos(o4)*sin(o1)*sin(o2)*sin(o5) - 0.0823*sin(o1)*sin(o2)*sin(o3)*sin(o4)*sin(o5), 0.0823*cos(o1)*sin(o5) - 0.0823*cos(o2)*cos(o3)*cos(o4)*cos(o5)*sin(o1) + 0.0823*cos(o2)*cos(o5)*sin(o1)*sin(o3)*sin(o4) + 0.0823*cos(o3)*cos(o5)*sin(o1)*sin(o2)*sin(o4) + 0.0823*cos(o4)*cos(o5)*sin(o1)*sin(o2)*sin(o3), 0;
0, 0.094649999999999998023803016167221*sin(o2 + o3 + o4) - 0.04115*sin(1.0*o5 - o3 - o4 - o2) - 0.04115*sin(o2 + o3 + o4 + o5) - 0.39225*cos(o2 + o3) - 0.425*cos(o2), 0.094649999999999998023803016167221*sin(o2 + o3 + o4) - 0.04115*sin(1.0*o5 - o3 - o4 - o2) - 0.04115*sin(o2 + o3 + o4 + o5) - 0.39225*cos(o2 + o3), 0.094649999999999998023803016167221*sin(o2 + o3 + o4) - 0.04115*sin(1.0*o5 - o3 - o4 - o2) - 0.04115*sin(o2 + o3 + o4 + o5), 0.04115*sin(1.0*o5 - o3 - o4 - o2) - 0.04115*sin(o2 + o3 + o4 + o5), 0];
jj=transpose(Jack)*inv(Jack*transpose(Jack));
end
举报
请认真填写举报原因，尽可能描述详细。
请选择举报类型
误判申诉
此处可能存在不合适展示的内容，页面不予展示。您可通过相关编辑功能自查并修改。
如您确认内容无涉及 不当用语 / 纯广告导流 / 暴力 / 低俗色情 / 侵权 / 盗版 / 虚假 / 无价值内容或违法国家有关法律法规的内容，可点击提交进行申诉，我们将尽快为您处理。
马建仓 AI 助手
尝试更多
代码解读
代码找茬
代码优化