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| 4 | 1/1 | 返回列表 |
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Tanny2013新蟲 (初入文壇)
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[求助]
六自由度平臺正解的matlab求解,不知程序哪出問題，求大神解救@��！ 已有1人參與
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公式見附件 %六自由度平臺的正解 syms ax ay az Ax Ay L1 L2 L3 L4 L5 L6 x y z fiu fiu1 fiu2 fiu3 fiu4 fiu5 fiu6 fiue fiue fiue1 fiue2 fiue3 fiue4 fiue5 fiue6 %動平臺的6點坐標； ax = [586.9,586.9,-232.8,-354.05,-354.05,-232.8]; % 6點的X坐標； ay = [-70,70,543.2,473.3,-473.3,-543.2]; % 6點的Y坐標； %az = [0,0,0,0,0,0]; az = [469.9,469.9,469.9,469.9,469.9,469.9]; %6點的Z坐標 高度為 469.9； %靜平臺的6點坐標； Ax = [ 354.3,354.3,232.8,-586.9,-586.9,232.8];%6點的X坐標； Ay = [ -473.6,473.6,543.2,70,-70,-543.2];%6點的Y坐標; Az = [ 0,0,0,0,0,0]; %輸入6根缸的長度 %disp('請輸入缸的長度L來求 alpha gamma beta x y z') %input('L1') %input('L2') %input('L3') %input('L4') %input('L5') %input('L6') L =[661.6659,661.6659,661.5054,661.5709,661.5709,661.5054] %設(shè)置牛頓迭代的初始值； alpha = 0.0001;beta = 0.00001;gamma = 0.0000001; x0 = 0.0001;y0 = 0.0001;z0 = 0.01; x = x0;y = y0;z = z0; %step %newtonloop: %for i=1:1:6 %alpha = u(1);beta = u(2);gamma = u(3); %x = u(4);y = u(5);z = u(6); %構(gòu)建旋轉(zhuǎn)變換矩陣 T; T = [cos(alpha)*cos(gamma)-sin(alpha)*sin(beta)*sin(gamma),-sin(alpha)*cos(beta),cos(alpha)*sin(gamma)+sin(alpha)*sin(beta)*cos(gamma);... sin(alpha)*cos(gamma)+cos(alpha)*sin(beta)*sin(gamma),cos(alpha)*cos(beta),sin(alpha)*sin(gamma)-cos(alpha)*sin(beta)*cos(gamma);... -cos(beta)*sin(gamma),sin(beta),cos(beta)*cos(gamma)]; %求旋轉(zhuǎn)變換矩陣 T 對 alpha gamma beta x y z 的偏導 gradTalpha = [-sin(alpha)*cos(gamma)-cos(alpha)*sin(beta)*sin(gamma),-cos(alpha)*cos(beta),-sin(alpha)*sin(gamma)+cos(alpha)*sin(beta)*cos(gamma);... cos(alpha)*cos(gamma)-sin(alpha)*sin(beta)*sin(gamma),-sin(alpha)*cos(beta),cos(alpha)*sin(gamma)+sin(alpha)*sin(beta)*cos(gamma);... 0,0,0]; gradTbeta = [-sin(alpha)*cos(beta)*sin(gamma),sin(alpha)*sin(beta),sin(alpha)*cos(beta)*cos(gamma);... cos(alpha)*cos(beta)*sin(gamma),-cos(alpha)*sin(beta),-cos(alpha)*cos(beta)*cos(gamma);... sin(beta)*sin(gamma),cos(beta),-sin(beta)*cos(gamma)]; gradTgamma = [-cos(alpha)*sin(gamma)-sin(alpha)*sin(beta)*cos(gamma),0,cos(alpha)*cos(gamma)-sin(alpha)*sin(beta)*sin(gamma);... -sin(alpha)*sin(gamma)+cos(alpha)*sin(beta)*cos(gamma),0,sin(alpha)*cos(gamma)+cos(alpha)*sin(beta)*sin(gamma);... -cos(beta)*cos(gamma),0,-sin(beta)*sin(gamma)]; %構(gòu)造線性方程 fiu1 = power((ax(1)*T(1,1)+ay(1)*T(1,2)+az(1)*T(1,3)+x-Ax(1)),2)... +power((ax(1)*T(2,1)+ay(1)*T(2,2)+az(1)*T(2,3)+y-Ay(1)),2)... +power((ax(1)*T(3,1)+ay(1)*T(3,2)+az(1)*T(3,3)+z-Az(1)),2)-power(L(1),2); fiu2 = power((ax(2)*T(1,1)+ay(2)*T(1,2)+az(2)*T(1,3)+x-Ax(2)),2)... +power((ax(2)*T(2,1)+ay(2)*T(2,2)+az(2)*T(2,3)+y-Ay(2)),2)... +power((ax(2)*T(3,1)+ay(2)*T(3,2)+az(2)*T(3,3)+z-Az(2)),2)-power(L(2),2); fiu3 = power((ax(3)*T(1,1)+ay(3)*T(1,2)+az(3)*T(1,3)+x-Ax(3)),2)... +power((ax(3)*T(2,1)+ay(3)*T(2,2)+az(3)*T(2,3)+y-Ay(3)),2)... +power((ax(3)*T(3,1)+ay(3)*T(3,2)+az(3)*T(3,3)+z-Az(3)),2)-power(L(3),2); fiu4 = power((ax(4)*T(1,1)+ay(4)*T(1,2)+az(4)*T(1,3)+x-Ax(4)),2)... +power((ax(4)*T(2,1)+ay(4)*T(2,2)+az(4)*T(2,3)+y-Ay(4)),2)... +power((ax(4)*T(3,1)+ay(4)*T(3,2)+az(4)*T(3,3)+z-Az(4)),2)-power(L(4),2); fiu5 = power((ax(5)*T(1,1)+ay(5)*T(1,2)+az(5)*T(1,3)+x-Ax(5)),2)... +power((ax(5)*T(2,1)+ay(5)*T(2,2)+az(5)*T(2,3)+y-Ay(5)),2)... +power((ax(5)*T(3,1)+ay(5)*T(3,2)+az(5)*T(3,3)+z-Az(5)),2)-power(L(5),2); fiu6 = power((ax(6)*T(1,1)+ay(6)*T(1,2)+az(6)*T(1,3)+x-Ax(6)),2)... +power((ax(6)*T(2,1)+ay(6)*T(2,2)+az(6)*T(2,3)+y-Ay(6)),2)... +power((ax(6)*T(3,1)+ay(6)*T(3,2)+az(6)*T(3,3)+z-Az(6)),2)-power(L(6),2); fiu = [fiu1;fiu2;fiu3;fiu4;fiu5;fiu6] %求6個點的線性方程分別對 alpha gamma beta x y z 的偏導 fiue1 = [2*(ax(1)*T(1,1)+ay(1)*T(1,2)+az(1)*T(1,3)+x-Ax(1))*(ax(1)*gradTalpha(1,1)+ay(1)*gradTalpha(1,2)+az(1)*gradTalpha(1,3))... +2*(ax(1)*T(2,1)+ay(1)*T(2,2)+az(1)*T(2,3)+y-Ay(1))*(ax(1)*gradTalpha(2,1)+ay(1)*gradTalpha(2,2)+az(1)*gradTalpha(2,3))... +2*(ax(1)*T(3,1)+ay(1)*T(3,2)+az(1)*T(3,3)+z-Az(1))*(ax(1)*gradTalpha(3,1)+ay(1)*gradTalpha(3,2)+az(1)*gradTalpha(3,3)),... 2*(ax(1)*T(1,1)+ay(1)*T(1,2)+az(1)*T(1,3)+x-Ax(1))*(ax(1)*gradTbeta(1,1)+ay(1)*gradTbeta(1,2)+az(1)*gradTbeta(1,3))... +2*(ax(1)*T(2,1)+ay(1)*T(2,2)+az(1)*T(2,3)+y-Ay(1))*(ax(1)*gradTbeta(2,1)+ay(1)*gradTbeta(2,2)+az(1)*gradTbeta(2,3))... +2*(ax(1)*T(3,1)+ay(1)*T(3,2)+az(1)*T(3,3)+z-Az(1))*(ax(1)*gradTbeta(3,1)+ay(1)*gradTbeta(3,2)+az(1)*gradTbeta(3,3)),... 2*(ax(1)*T(1,1)+ay(1)*T(1,2)+az(1)*T(1,3)+x-Ax(1))*(ax(1)*gradTgamma(1,1)+ay(1)*gradTgamma(1,2)+az(1)*gradTgamma(1,3))... +2*(ax(1)*T(2,1)+ay(1)*T(2,2)+az(1)*T(2,3)+y-Ay(1))*(ax(1)*gradTgamma(2,1)+ay(1)*gradTgamma(2,2)+az(1)*gradTgamma(2,3))... +2*(ax(1)*T(3,1)+ay(1)*T(3,2)+az(1)*T(3,3)+z-Az(1))*(ax(1)*gradTgamma(3,1)+ay(1)*gradTgamma(3,2)+az(1)*gradTgamma(3,3)),... 2*(ax(1)*T(1,1)+ay(1)*T(1,2)+az(1)*T(1,3)+x-Ax(1)),2*(ax(1)*T(2,1)+ay(1)*T(2,2)+az(1)*T(2,3)+y-Ay(1)),2*(ax(1)*T(3,1)+ay(1)*T(3,2)+az(1)*T(3,3)+z-Az(1))]; fiue2 = [2*(ax(2)*T(1,1)+ay(2)*T(1,2)+az(2)*T(1,3)+x-Ax(2))*(ax(2)*gradTalpha(1,1)+ay(2)*gradTalpha(1,2)+az(2)*gradTalpha(1,3))... +2*(ax(2)*T(2,1)+ay(2)*T(2,2)+az(2)*T(2,3)+y-Ay(2))*(ax(2)*gradTalpha(2,1)+ay(2)*gradTalpha(2,2)+az(2)*gradTalpha(2,3))... +2*(ax(2)*T(3,1)+ay(2)*T(3,2)+az(2)*T(3,3)+z-Az(2))*(ax(2)*gradTalpha(3,1)+ay(2)*gradTalpha(3,2)+az(2)*gradTalpha(3,3)),... 2*(ax(2)*T(1,1)+ay(2)*T(1,2)+az(2)*T(1,3)+x-Ax(2))*(ax(2)*gradTbeta(1,1)+ay(2)*gradTbeta(1,2)+az(2)*gradTbeta(1,3))... +2*(ax(2)*T(2,1)+ay(1)*T(2,2)+az(2)*T(2,3)+y-Ay(2))*(ax(2)*gradTbeta(2,1)+ay(2)*gradTbeta(2,2)+az(2)*gradTbeta(2,3))... +2*(ax(2)*T(3,1)+ay(2)*T(3,2)+az(2)*T(3,3)+z-Az(2))*(ax(2)*gradTbeta(3,1)+ay(2)*gradTbeta(3,2)+az(2)*gradTbeta(3,3)),... 2*(ax(2)*T(1,1)+ay(2)*T(1,2)+az(2)*T(1,3)+x-Ax(2))*(ax(2)*gradTgamma(1,1)+ay(2)*gradTgamma(1,2)+az(2)*gradTgamma(1,3))... +2*(ax(2)*T(2,1)+ay(2)*T(2,2)+az(2)*T(2,3)+y-Ay(2))*(ax(2)*gradTgamma(2,1)+ay(2)*gradTgamma(2,2)+az(2)*gradTgamma(2,3))... +2*(ax(2)*T(3,1)+ay(2)*T(3,2)+az(2)*T(3,3)+z-Az(2))*(ax(2)*gradTgamma(3,1)+ay(2)*gradTgamma(3,2)+az(2)*gradTgamma(3,3)),... 2*(ax(2)*T(1,1)+ay(2)*T(1,2)+az(2)*T(1,3)+x-Ax(2)),2*(ax(2)*T(2,1)+ay(2)*T(2,2)+az(2)*T(2,3)+y-Ay(2)),2*(ax(2)*T(3,1)+ay(2)*T(3,2)+az(2)*T(3,3)+z-Az(2))]; fiue3 = [2*(ax(3)*T(1,1)+ay(3)*T(1,2)+az(3)*T(1,3)+x-Ax(3))*(ax(3)*gradTalpha(1,1)+ay(3)*gradTalpha(1,2)+az(3)*gradTalpha(1,3))... +2*(ax(3)*T(2,1)+ay(3)*T(2,2)+az(3)*T(2,3)+y-Ay(3))*(ax(3)*gradTalpha(2,1)+ay(3)*gradTalpha(2,2)+az(3)*gradTalpha(2,3))... +2*(ax(3)*T(3,1)+ay(3)*T(3,2)+az(3)*T(3,3)+z-Az(3))*(ax(3)*gradTalpha(3,1)+ay(3)*gradTalpha(3,2)+az(3)*gradTalpha(3,3)),... 2*(ax(3)*T(1,1)+ay(3)*T(1,2)+az(3)*T(1,3)+x-Ax(3))*(ax(3)*gradTbeta(1,1)+ay(3)*gradTbeta(1,2)+az(3)*gradTbeta(1,3))... +2*(ax(3)*T(2,1)+ay(3)*T(2,2)+az(3)*T(2,3)+y-Ay(3))*(ax(3)*gradTbeta(2,1)+ay(3)*gradTbeta(2,2)+az(3)*gradTbeta(2,3))... +2*(ax(3)*T(3,1)+ay(3)*T(3,2)+az(3)*T(3,3)+z-Az(3))*(ax(3)*gradTbeta(3,1)+ay(3)*gradTbeta(3,2)+az(3)*gradTbeta(3,3)),... 2*(ax(3)*T(1,1)+ay(3)*T(1,2)+az(3)*T(1,3)+x-Ax(3))*(ax(3)*gradTgamma(1,1)+ay(3)*gradTgamma(1,2)+az(3)*gradTgamma(1,3))... +2*(ax(3)*T(2,1)+ay(3)*T(2,2)+az(3)*T(2,3)+y-Ay(3))*(ax(3)*gradTgamma(2,1)+ay(3)*gradTgamma(2,2)+az(3)*gradTgamma(2,3))... +2*(ax(3)*T(3,1)+ay(3)*T(3,2)+az(3)*T(3,3)+z-Az(3))*(ax(3)*gradTgamma(3,1)+ay(3)*gradTgamma(3,2)+az(3)*gradTgamma(3,3)),... 2*(ax(3)*T(1,1)+ay(3)*T(1,2)+az(3)*T(1,3)+x-Ax(3)),2*(ax(3)*T(2,1)+ay(3)*T(2,2)+az(3)*T(2,3)+y-Ay(3)),2*(ax(3)*T(3,1)+ay(3)*T(3,2)+az(3)*T(3,3)+z-Az(3))]; fiue4 = [2*(ax(4)*T(1,1)+ay(4)*T(1,2)+az(4)*T(1,3)+x-Ax(4))*(ax(4)*gradTalpha(1,1)+ay(4)*gradTalpha(1,2)+az(4)*gradTalpha(1,3))... +2*(ax(4)*T(2,1)+ay(4)*T(2,2)+az(4)*T(2,3)+y-Ay(4))*(ax(4)*gradTalpha(2,1)+ay(4)*gradTalpha(2,2)+az(4)*gradTalpha(2,3))... +2*(ax(4)*T(3,1)+ay(4)*T(3,2)+az(4)*T(3,3)+z-Az(4))*(ax(4)*gradTalpha(3,1)+ay(4)*gradTalpha(3,2)+az(4)*gradTalpha(3,3)),... 2*(ax(4)*T(1,1)+ay(4)*T(1,2)+az(4)*T(1,3)+x-Ax(4))*(ax(4)*gradTbeta(1,1)+ay(4)*gradTbeta(1,2)+az(4)*gradTbeta(1,3))... +2*(ax(4)*T(2,1)+ay(4)*T(2,2)+az(4)*T(2,3)+y-Ay(4))*(ax(4)*gradTbeta(2,1)+ay(4)*gradTbeta(2,2)+az(4)*gradTbeta(2,3))... +2*(ax(4)*T(3,1)+ay(4)*T(3,2)+az(4)*T(3,3)+z-Az(4))*(ax(4)*gradTbeta(3,1)+ay(4)*gradTbeta(3,2)+az(4)*gradTbeta(3,3)),... 2*(ax(4)*T(1,1)+ay(4)*T(1,2)+az(4)*T(1,3)+x-Ax(4))*(ax(4)*gradTgamma(1,1)+ay(4)*gradTgamma(1,2)+az(4)*gradTgamma(1,3))... +2*(ax(4)*T(2,1)+ay(4)*T(2,2)+az(4)*T(2,3)+y-Ay(4))*(ax(4)*gradTgamma(2,1)+ay(4)*gradTgamma(2,2)+az(4)*gradTgamma(2,3))... +2*(ax(4)*T(3,1)+ay(4)*T(3,2)+az(4)*T(3,3)+z-Az(4))*(ax(4)*gradTgamma(3,1)+ay(4)*gradTgamma(3,2)+az(4)*gradTgamma(3,3)),... 2*(ax(4)*T(1,1)+ay(4)*T(1,2)+az(4)*T(1,3)+x-Ax(4)),2*(ax(4)*T(2,1)+ay(4)*T(2,2)+az(4)*T(2,3)+y-Ay(4)),2*(ax(4)*T(3,1)+ay(4)*T(3,2)+az(4)*T(3,3)+z-Az(4))]; fiue5 = [2*(ax(5)*T(1,1)+ay(5)*T(1,2)+az(5)*T(1,3)+x-Ax(5))*(ax(5)*gradTalpha(1,1)+ay(5)*gradTalpha(1,2)+az(5)*gradTalpha(1,3))... +2*(ax(5)*T(2,1)+ay(5)*T(2,2)+az(5)*T(2,3)+y-Ay(5))*(ax(5)*gradTalpha(2,1)+ay(5)*gradTalpha(2,2)+az(5)*gradTalpha(2,3))... +2*(ax(5)*T(3,1)+ay(5)*T(3,2)+az(5)*T(3,3)+z-Az(5))*(ax(5)*gradTalpha(3,1)+ay(5)*gradTalpha(3,2)+az(5)*gradTalpha(3,3)),... 2*(ax(5)*T(1,1)+ay(5)*T(1,2)+az(5)*T(1,3)+x-Ax(5))*(ax(5)*gradTbeta(1,1)+ay(5)*gradTbeta(1,2)+az(5)*gradTbeta(1,3))... +2*(ax(5)*T(2,1)+ay(5)*T(2,2)+az(5)*T(2,3)+y-Ay(5))*(ax(5)*gradTbeta(2,1)+ay(5)*gradTbeta(2,2)+az(5)*gradTbeta(2,3))... +2*(ax(5)*T(3,1)+ay(5)*T(3,2)+az(5)*T(3,3)+z-Az(5))*(ax(5)*gradTbeta(3,1)+ay(5)*gradTbeta(3,2)+az(5)*gradTbeta(3,3)),... 2*(ax(5)*T(1,1)+ay(5)*T(1,2)+az(5)*T(1,3)+x-Ax(5))*(ax(5)*gradTgamma(1,1)+ay(5)*gradTgamma(1,2)+az(5)*gradTgamma(1,3))... +2*(ax(5)*T(2,1)+ay(5)*T(2,2)+az(5)*T(2,3)+y-Ay(5))*(ax(5)*gradTgamma(2,1)+ay(5)*gradTgamma(2,2)+az(5)*gradTgamma(2,3))... +2*(ax(5)*T(3,1)+ay(5)*T(3,2)+az(5)*T(3,3)+z-Az(5))*(ax(5)*gradTgamma(3,1)+ay(5)*gradTgamma(3,2)+az(5)*gradTgamma(3,3)),... 2*(ax(5)*T(1,1)+ay(5)*T(1,2)+az(5)*T(1,3)+x-Ax(5)),2*(ax(5)*T(2,1)+ay(5)*T(2,2)+az(5)*T(2,3)+y-Ay(5)),2*(ax(5)*T(3,1)+ay(5)*T(3,2)+az(5)*T(3,3)+z-Az(5))]; fiue6 = [2*(ax(6)*T(1,1)+ay(6)*T(1,2)+az(6)*T(1,3)+x-Ax(6))*(ax(6)*gradTalpha(1,1)+ay(6)*gradTalpha(1,2)+az(6)*gradTalpha(1,3))... +2*(ax(6)*T(2,1)+ay(6)*T(2,2)+az(6)*T(2,3)+y-Ay(6))*(ax(6)*gradTalpha(2,1)+ay(6)*gradTalpha(2,2)+az(6)*gradTalpha(2,3))... +2*(ax(6)*T(3,1)+ay(6)*T(3,2)+az(6)*T(3,3)+z-Az(6))*(ax(6)*gradTalpha(3,1)+ay(6)*gradTalpha(3,2)+az(6)*gradTalpha(3,3)),... 2*(ax(6)*T(1,1)+ay(6)*T(1,2)+az(6)*T(1,3)+x-Ax(6))*(ax(6)*gradTbeta(1,1)+ay(6)*gradTbeta(1,2)+az(6)*gradTbeta(1,3))... +2*(ax(6)*T(2,1)+ay(6)*T(2,2)+az(6)*T(2,3)+y-Ay(6))*(ax(6)*gradTbeta(2,1)+ay(6)*gradTbeta(2,2)+az(6)*gradTbeta(2,3))... +2*(ax(6)*T(3,1)+ay(6)*T(3,2)+az(6)*T(3,3)+z-Az(6))*(ax(6)*gradTbeta(3,1)+ay(6)*gradTbeta(3,2)+az(6)*gradTbeta(3,3)),... 2*(ax(6)*T(1,1)+ay(6)*T(1,2)+az(6)*T(1,3)+x-Ax(6))*(ax(6)*gradTgamma(1,1)+ay(6)*gradTgamma(1,2)+az(6)*gradTgamma(1,3))... +2*(ax(6)*T(2,1)+ay(6)*T(2,2)+az(6)*T(2,3)+y-Ay(6))*(ax(6)*gradTgamma(2,1)+ay(6)*gradTgamma(2,2)+az(6)*gradTgamma(2,3))... +2*(ax(6)*T(3,1)+ay(6)*T(3,2)+az(6)*T(3,3)+z-Az(6))*(ax(6)*gradTgamma(3,1)+ay(6)*gradTgamma(3,2)+az(6)*gradTgamma(3,3)),... 2*(ax(6)*T(1,1)+ay(6)*T(1,2)+az(6)*T(1,3)+x-Ax(6)),2*(ax(6)*T(2,1)+ay(6)*T(2,2)+az(6)*T(2,3)+y-Ay(6)),2*(ax(6)*T(3,1)+ay(6)*T(3,2)+az(6)*T(3,3)+z-Az(6))]; fiue = [fiue1(1),fiue1(2),fiue1(3),fiue1(4),fiue1(5),fiue1(6);... fiue2(1),fiue2(2),fiue2(3),fiue2(4),fiue2(5),fiue2(6);... fiue3(1),fiue3(2),fiue3(3),fiue3(4),fiue3(5),fiue3(6);... fiue4(1),fiue4(2),fiue4(3),fiue4(4),fiue4(5),fiue4(6);... fiue5(1),fiue5(2),fiue5(3),fiue5(4),fiue5(5),fiue5(6);... fiue6(1),fiue6(2),fiue6(3),fiue6(4),fiue6(5),fiue6(6)] %增廣矩陣 fiue9 = [fiue1(1),fiue1(2),fiue1(3),fiue1(4),fiue1(5),fiue1(6),fiu1;... fiue2(1),fiue2(2),fiue2(3),fiue2(4),fiue2(5),fiue2(6),fiu2;... fiue3(1),fiue3(2),fiue3(3),fiue3(4),fiue3(5),fiue3(6),fiu3;... fiue4(1),fiue4(2),fiue4(3),fiue4(4),fiue4(5),fiue4(6),fiu4;... fiue5(1),fiue5(2),fiue5(3),fiue5(4),fiue5(5),fiue5(6),fiu5;... fiue6(1),fiue6(2),fiue6(3),fiue6(4),fiue6(5),fiue6(6),fiu6] %如果矩陣的秩小于增廣矩陣的秩，即r<r0,則方程組無解（矛盾方程組） r0 = rank(fiue9) r = rank(fiue) %M = inv(fiue) %end %step++; u1 = fiue\fiu u = [alpha;beta;gamma;x;y;z] %u2 = inv(fiue)*fiu %u = u -(fiue\fiu)' %u1 = u-inv(fiue)*fiu %disp('u') alpha = u(1);beta = u(2);gamma = u(3); x = u(4);y = u(5);z = u1(6) %end |
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歡迎監(jiān)督和反饋：小木蟲僅提供交流平臺，不對該內(nèi)容負責。
本內(nèi)容由用戶自主發(fā)布，如果其內(nèi)容涉及到知識產(chǎn)權(quán)問題，其責任在于用戶本人，如對版權(quán)有異議，請聯(lián)系郵箱：xiaomuchong@tal.com - 附件 1 : 六自由度平臺的正解.doc
2014-08-27 19:58:27, 272 K
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