1. Unit 6 Animation Design 中華技術學院電子系 蔡樸生 副教授 林盈灝 副教授

2. MOVIES  Animation in MATLAB takes one of two forms (1) Movies Feature :  The computations needs to create a sequence of images  Real – time rendering is fatal drawback  The approach require significant memory space (2) Movies procedure  moviein : 預留記憶體空間  getframe : 抓取圖形作為電影畫面  movie : 播放電影 ( 重複次數與每秒播放畫面數目 )

3. Example : rotate a 3-D surface plot  n=10;  peaks; translating and scaling Gaussian distributions  M=moviein(n)  for j=1:n  view(-37.5+j*10,30);view(Azimuth,Elevation)  M(j)=getframe;  end  movie(M,20); MOVIE(M,N,FPS)  default if FPS is omitted is 12 frames per second.

4. Handle Graphics Demo  lorenz : Chaotic Equation  truss : Earthquake Simulation  travel : Traveling Salesperson Problem  firdemo : Downhill Simplex Search  spinner : Screen Protection  sltbu : Auto Parking  juggle : Fuzzy Controller  slbb / slcp1 / slcpp1 / invkine

5. Handle Graphics Animation  curve properties  x data : vector  y data : vector  EraseMode : 曲線被抹除的模式  normal : 重畫整個畫面  xor : 將舊曲線的點以 xor 方式還原  background : 將舊曲線的點改成背景顏色  none : 保留舊曲線的點, 不做任何處理  動畫原理 : 產生一條曲線, 設定 EraseMode 更新 x data 與 y data

6. Example : exponent-sinewave function  x=0:0.1:8*pi;  h=plot(x,sin(x).*exp(-x/5),'EraseMode','xor');  for i=1:100  y=sin(x+i/10).*exp(-x/5);  set(h,'ydata',y);  drawnow ; 令 Matlab 立即處理 set 動作  end

7. Mobile Robots Animation Principle bcar1bcar2 bcar3 bcar4

8. Example : Mobile Robots Configuration (1) The Body of Mobile Robot function [h6,h7,h8]=create4_robot(xc,yc,sita) car_length=0.8; car_width=0.5; (1/2 車身與車寬 ) whl_head=0.6;whl_back=0.3;whl_width=0.3; center=[xc yc]'; bcar_1=[car_length car_width]'; bcar_2=[-car_length car_width]'; bcar_3=[-car_length -car_width]'; bcar_4=[car_length -car_width]'; rotation=[cos(sita) -sin(sita);sin(sita) cos(sita)];

9. The Body Of Mobile Robot icar_1=rotation*bcar_1+center; icar_2=rotation*bcar_2+center; icar_3=rotation*bcar_3+center; icar_4=rotation*bcar_4+center; pcarx=[icar_1(1,1) icar_2(1,1) icar_3(1,1) icar_4(1,1) icar_1(1,1)]; pcary=[icar_1(2,1) icar_2(2,1) icar_3(2,1) icar_4(2,1) icar_1(2,1)]; h6=line(pcarx,pcary); set(h6,'color',[1 0 1]);

10. The Wheels Of Mobile Robot bwhl_1=[whl_head whl_width]'; bwhl_2=[whl_back whl_width]'; bwhl_3=[whl_back -whl_width]'; bwhl_4=[whl_head -whl_width]'; iwhl_1=rotation*bwhl_1+center; iwhl_2=rotation*bwhl_2+center; iwhl_3=rotation*bwhl_3+center; iwhl_4=rotation*bwhl_4+center; pwhlx=[iwhl_1(1,1) iwhl_2(1,1)]; pwhly=[iwhl_1(2,1) iwhl_2(2,1)];

11. The Wheels Of Mobile Robot h7=line(pwhlx,pwhly); set(h7,'color',[0 0 0]); pwhlx=[iwhl_3(1,1) iwhl_4(1,1)]; pwhly=[iwhl_3(2,1) iwhl_4(2,1)]; h8=line(pwhlx,pwhly); set(h8,'color',[0 0 0]); h9=line(xc,yc); set(h9,'color',[1 0 0]); set(h9,'Marker','.');

12. Home works (1) Design the configuration of tank (2) Adding a friendly windows for simulation

13. Example1 : 3D Rotate about X, Y, Z P6-P7-P5-P4-P6-P0-P1-P2-P3-P0-P6-P4-P3-P2-P5-P7-P1

14. The Rotation Matrix Representation (I) ROTATE ABOUT X AXIS

15. The Rotation Matrix Representation (II) ROTATE ABOUT Y AXIS

16. The Rotation Matrix Representation (III) ROTATE ABOUT Z AXIS

17. Example 2: Simulation Windows Design

18. Example 3: The kinematic model of a mobile robot M=I=L=R=1 Initial Value :

19. Example 4 : The Animation of Propeller 360/60=6