%%%%%%%%%%%%%學(xué)習(xí)樣本
%function o1o2=xyo1o2(a,b)
%由循環(huán)程序給出機(jī)器人關(guān)節(jié)變量(o1,02)，通過正解運(yùn)算求出相應(yīng)的末端位姿(x,y)，從而得到學(xué)習(xí)樣本
clear
clc
l1=1;                     %連桿長(zhǎng)度50cm
l2=0.8;
n=100;
g=zeros(2,n);

  o1=pi/20:pi/20:pi/2;
  o2=pi/40:pi/40:pi/4; 
  
  for i=1:1:10;
    for  j=1:1:10;
    g(1,j+10*(i-1))=o1(i);
    g(2,j+10*(i-1))=o2(j);
    end
 end

 
   for i=1:1:n
    o1=g(1,i);
    o2=g(2,i);
    x=l1*cos(o1)+l2*cos(o1+o2);
    y=l1*sin(o1)+l2*sin(o1+o2);
    s(1,i)=x;
    s(2,i)=y;
    end
g ;                                                              %關(guān)節(jié)變量  
s ;                                                             %末端位姿
x1=s(1,:);
x2=s(2,:);
th1=g(1,:);
th2=g(2,:);
th=[th1;th2];                                         %期望值
s=[x1;x2];                                            %樣本輸入


%%%%%%%%%%%%%%%BP神經(jīng)網(wǎng)絡(luò)的仿真

n=10;%設(shè)置網(wǎng)絡(luò)隱單元的神經(jīng)元數(shù)目

%建立相應(yīng)的BP網(wǎng)絡(luò)   傳遞函數(shù)分別為tansig、purelin，訓(xùn)練函數(shù)（反向傳遞函數(shù)）是trainlm
net=newff(minmax(s),[n 2],{'tansig' 'purelin'},'trainlm');

%訓(xùn)練網(wǎng)絡(luò)
net.trainParam.epochs=2000;
net.trainParam.goal=0.0001;
tic
net=train(net,s,th)


%對(duì)訓(xùn)練后的網(wǎng)絡(luò)進(jìn)行仿真
y2=sim(net,s)
y21=y2(1,:);
y22=y2(2,:);

figure;
plot(th1,'ko')
hold on;
plot(y21,'b*')
legend('期望輸出','網(wǎng)絡(luò)輸出');
xlabel('樣本值')
ylabel('th1')
title('th1的期望與仿真輸出曲線')
pause

figure;
e1=th1-y21;
plot(e1,'black-')
axis([0 100 -0.5 0.5])
%legend('期望輸出','網(wǎng)絡(luò)輸出');
xlabel('樣本點(diǎn)')
ylabel('e1')
title('o1的e1仿真輸出曲線')
pause

figure;
plot(th2,'ko')
hold on;
plot(y22,'r*')
legend('期望輸出','網(wǎng)絡(luò)輸出');
xlabel('樣本值')
ylabel('th2')
title('th2的期望與仿真輸出曲線')
pause
figure;
e2=th2-y22;
plot(e2,'black-')
axis([0 100 -0.5 0.5])
%legend('期望輸出','網(wǎng)絡(luò)輸出');
xlabel('樣本點(diǎn)')
ylabel('e2')
title('o2的e2仿真輸出曲線')

a=input('enter x(-0.5 to 1.7):')    
while (x>1.5) | (x<-1.5)
  x=input('x must in -1.5 to 1.5,Please re-type:')
end     
b=input('enter y(0.3 to 1.7):')
while (y>1.6) | (y<0)
    y=input('y must in 0 to 1.6,Please re-type:')
end



s.test=[a;b];
o1o2=sim(net,s.test)
tic