高精度六轴平台（Hexapod platform）逆运动学分析（三）部分运动仿真

import numpy as np
import matplotlib.pyplot as plt

plt.figure(1)
plt.ion()

# Input the desired position and rotation of he platform
p = np.array([[3.0], [2.5]])
R = np.array([[1.0, 0.0], [0.0, 1.0]])

# Design variables
a1 = np.array([[2.0], [1.0]])
a2 = np.array([[4.0], [1.0]])

b1 = np.array([[-0.5], [0]])
b2 = np.array([[0.5], [0]])

i = 0
while i < 50:
    # Calculate the outputs
    plt.clf()
    s1 = p+np.dot(R, b1)-a1
    s2 = p+np.dot(R, b2)-a2

    Length_sl = np.sqrt(s1[0]**2+s1[1]**2)
    Length_s2 = np.sqrt(s2[0]**2+s2[1]**2)
    print("Length s1 = ", Length_sl, "Length s2 = ", Length_s2)

    plt.plot([a1[0], s1[0]+a1[0], p[0], s2[0]+a2[0], a2[0]], [a1[1], s1[1]+a1[1], p[1], s2[1]+a2[1], a2[1]])
    plt.draw()
    plt.pause(0.01)
    i = i+1
    p[0] = p[0]+0.01
plt.ioff()
plt.show()