Robotiq 单指观察
程序：
clear all
clc
gama1 = 0.935
gama2 = 0.959
gama3 = 0.776
kr = 2.25
x1 = 0:0.1:pi
y1 = (x1-0.37).*(x1 <= gama1)+0.565*(x1 > gama1)
y1 = y1*180/pi
plot(x1,y1)
legend('y1')
% axis([0 3.2 -22 35])
hold on
grid on
x2 = 0:pi
y2 = 0*(x2 <= gama2)+kr*(x2-0.959).*(x2 > gama2)
y2 = y2*180/pi
plot(x2,y2)
hold on
%
x3 = 0:pi
y3 = -(x3-0.37).*(x3 <= gama3)+(-0.354)*(x3 > gama3)
y3 = y3*180/pi
plot(x3,y3)