MOVE J and MOVE L

本文深入解析了机器人运动控制中的两种基本指令:MoveJ和MoveL。MoveJ使机器人以最快速度移动至目标点,路径不可控;MoveL则确保机器人沿直线精确移动至目标点,适用于工作状态移动。文章详细对比了两种指令的特点与应用场景。

摘要生成于 C知道 ,由 DeepSeek-R1 满血版支持, 前往体验 >

MoveJ:机器人以最快捷的方式运动至目标点,机器人运动状态不完全可控,机器人关节怎么舒服怎么走,完全按照机器人自己的意愿执行路径,但运动路径保持唯一,常用于机器人在空间大范围移动。

MoveL机器人以线性方式运动至目标点,当前点与目标点两点决定一条严格直线,机器人运动状态可控,运动路径保持唯一,可能出现死点,常用于机器人在工作状态移动。示教的两个点之间的路径完全按照直线运动,奇异点和死机的可能性更大。
L是

Fine是运动转角数据,精确到目标点。Fine精确到达目标点后再运行下一条指令。
文章来源

Problem Statement There is a grid with N × N N×N squares. We denote by ( i , j ) (i,j) the square at the i i-th row from the top and j j-th column from the left. Initially, a piece is placed on ( 1 , 1 ) (1,1). You may repeat the following operation any number of times: Let ( i , j ) (i,j) be the square the piece is currently on. Move the piece to the square whose distance from ( i , j ) (i,j) is exactly M M ​ . Here, we define the distance between square ( i , j ) (i,j) and square ( k , l ) (k,l) as ( i − k ) 2 + ( j − l ) 2 (i−k) 2 +(j−l) 2 ​ . For all squares ( i , j ) (i,j), determine if the piece can reach ( i , j ) (i,j). If it can, find the minimum number of operations required to do so. Constraints 1 ≤ N ≤ 400 1≤N≤400 1 ≤ M ≤ 10 6 1≤M≤10 6 All values in the input are integers. Input The input is given from Standard Input in the following format: N N M M Output Print N N lines. The i i-th line should contain N N integers. If the piece can reach ( i , j ) (i,j), the j j-th integer in the i i-th line should be the minimum number of operations required to do so; otherwise, it should be − 1 −1. 输入数据 1 3 1 输出数据 1 0 1 2 1 2 3 2 3 4 You can move the piece to four adjacent squares. For example, we can move the piece to ( 2 , 2 ) (2,2) with two operations as follows. The piece is now on ( 1 , 1 ) (1,1). The distance between ( 1 , 1 ) (1,1) and ( 1 , 2 ) (1,2) is exactly 1 1 ​ , so move the piece to ( 1 , 2 ) (1,2). The piece is now on ( 1 , 2 ) (1,2). The distance between ( 1 , 2 ) (1,2) and ( 2 , 2 ) (2,2) is exactly 1 1 ​ , so move the piece to ( 2 , 2 ) (2,2). 输入数据 2 10 5 输出数据 2 0 3 2 3 2 3 4 5 4 5 3 4 1 2 3 4 3 4 5 6 2 1 4 3 2 3 4 5 4 5 3 2 3 2 3 4 3 4 5 6 2 3 2 3 4 3 4 5 4 5 3 4 3 4 3 4 5 4 5 6 4 3 4 3 4 5 4 5 6 5 5 4 5 4 5 4 5 6 5 6 4 5 4 5 4 5 6 5 6 7 5 6 5 6 5 6 5 6 7 6 c++完成
06-04
评论
添加红包

请填写红包祝福语或标题

红包个数最小为10个

红包金额最低5元

当前余额3.43前往充值 >
需支付:10.00
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明:

1.余额是钱包充值的虚拟货币,按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载,可以购买VIP、付费专栏及课程。

余额充值