MIT/GNU Scheme

MIT/GNU Scheme是一种Scheme编程语言实现,提供解释器、编译器、源代码调试器等工具,适用于大型应用程序的快速开发周期。当前稳定版本为9.2,支持多种操作系统。

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MIT/GNU Scheme

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MIT/GNU Scheme is an implementation of the Scheme programminglanguage, providing an interpreter, compiler, source-code debugger,integrated Emacs-like editor, and a large runtime library. MIT/GNU Scheme is best suited to programming large applications with arapid development cycle.

Release status and future plans

Current releases
Stable
9.2

The releases provide binaries that run on i386 and x86-64 machines under the following operating systems: GNU/Linux, OS X, and Windows. We additionally providebinaries for selected other architectures and systems, depending onthe hardware and software that is available to us. We no longersupport OS/2, DOS, or Windows systems prior to XP.

Recent release notes are here.

In the future, we plan to deploy a new portable virtual machine andimplement a module system. We also plan to finish support for R5RS, but we will not be providing support for R6RS.Other potential projects can be found on thetasks page.

Download

MIT/GNU Scheme is available in binary form for a variety ofsystems.Note that most problems unpacking or installing this software are dueto corrupted downloads, so please check the downloaded filefor a correct MD5 checksum before submitting a bug report.Each distribution below has its own list of MD5 checksums.

Stable release 9.2
FileArchInstructionsNotes
Unix binaryi386unix installation 
Unix binaryx86-64unix installation 
OS X binaryi386 Compiled on OS X 10.9.
OS X binaryx86-64 Compiled on OS X 10.9.
Windows binaryi386Windows installationCompiled on Windows 7 using Open Watcom C/C++ 1.9.
Portable C(any)how to buildFor use on any unix system.
Source (.tar.gz)  For unix systems; uses linefeeds as line delimiters.
Change log   
MD5 checksums   

Older versions can be downloadedhere.

Code for running MIT/GNU Scheme under GNU Emacs ishere (or byte-compiled); this has been testedon GNU Emacs versions 20.7 and 21.1, and should replace thefile of the same name included with GNU Emacs; it won't workwith GNU Emacs 19 or earlier. This doesn't work onWindows or OS/2.

Note that you cannot build a working system from the source unless youhave a working MIT/GNU Scheme compiler to do the compilation.(This doesn't apply to the portable C source, which requires only a Ccompiler.) This means that if the above binaries don't work on yoursystem, it is pointless to try building a custom set of binaries fromthe source code.

Documentation

Documentation for MIT/GNU Scheme is available online, asis documentation for most GNU software. TheMIT/GNU Scheme documentation is available in HTML andPDF formats:

Core documentation:
HTMLPDFMIT/GNU Scheme Reference
HTMLPDFMIT/GNU Scheme User's Manual
HTMLPDFThe SOS Reference Manual
HTMLPDFIMAIL User's Manual
Supported SRFIs:
HTML 0: cond-expand
HTML 1: List library
HTML 2: and-let*
HTML 6: Basic string ports
HTML 8: receive
HTML 9: Defining record types
HTML 23: Error reporting mechanism
HTML 27: Sources of random bits
HTML 30: Nested multi-line comments
HTML 62: S-expression comments
HTML 69: Basic hash tables

Contact us

Please report bugs using thebug-tracking system.
We can be contacted on themit-scheme-develmailing list.
New releases of MIT/GNU Scheme are announced on themit-scheme-announce mailing list.

Our more general Scheme page ishttp://swiss.csail.mit.edu/projects/scheme/.
Older releases can be found athttp://swiss.csail.mit.edu/ftpdir/mit-scheme/.

Getting involved

Development of MIT/GNU Scheme, and GNU in general, isa volunteer effort, and you can contribute. For information, pleaseread How to help GNU. If you'd like to getinvolved, it's a good idea to join the discussion mailing list (seeabove).

Development
For development sources, bug and patch trackers, and otherinformation, please see the projectpage at Savannah.
Maintainer
MIT/GNU Scheme is currently being maintained by Chris Hanson.Please use the mailing lists for contact.

Licensing

MIT/GNU Scheme is free software; you can redistribute it and/ormodify it under the terms of the GPL as published by theFree Software Foundation; either version 2 of the License, or (at youroption) any later version.

 [FSF logo] “Ourmission is to preserve, protect and promote the freedom to use, study,copy, modify, and redistribute computer software, and to defend therights of Free Software users.”

The Free Software Foundation isthe principal organizational sponsor of the GNU Operating System.Support GNU and the FSF by buying manuals and gear, joining the FSF as an associate member, or makinga donation, either directly to the FSF or viaFlattr.

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Translations of this page
资源下载链接为: https://pan.quark.cn/s/67c535f75d4c 在机器人技术中,轨迹规划是实现机器人从一个位置平稳高效移动到另一个位置的核心环节。本资源提供了一套基于 MATLAB 的机器人轨迹规划程序,涵盖了关节空间和笛卡尔空间两种规划方式。MATLAB 是一种强大的数值计算与可视化工具,凭借其灵活易用的特点,常被用于机器人控制算法的开发与仿真。 关节空间轨迹规划主要关注机器人各关节角度的变化,生成从初始配置到目标配置的连续路径。其关键知识点包括: 关节变量:指机器人各关节的旋转角度或伸缩长度。 运动学逆解:通过数学方法从末端执行器的目标位置反推关节变量。 路径平滑:确保关节变量轨迹连续且无抖动,常用方法有 S 型曲线拟合、多项式插值等。 速度和加速度限制:考虑关节的实际物理限制,确保轨迹在允许的动态范围内。 碰撞避免:在规划过程中避免关节与其他物体发生碰撞。 笛卡尔空间轨迹规划直接处理机器人末端执行器在工作空间中的位置和姿态变化,涉及以下内容: 工作空间:机器人可到达的所有三维空间点的集合。 路径规划:在工作空间中找到一条从起点到终点的无碰撞路径。 障碍物表示:采用二维或三维网格、Voronoi 图、Octree 等数据结构表示工作空间中的障碍物。 轨迹生成:通过样条曲线、直线插值等方法生成平滑路径。 实时更新:在规划过程中实时检测并避开新出现的障碍物。 在 MATLAB 中实现上述规划方法,可以借助其内置函数和工具箱: 优化工具箱:用于解决运动学逆解和路径规划中的优化问题。 Simulink:可视化建模环境,适合构建和仿真复杂的控制系统。 ODE 求解器:如 ode45,用于求解机器人动力学方程和轨迹执行过程中的运动学问题。 在实际应用中,通常会结合关节空间和笛卡尔空间的规划方法。先在关节空间生成平滑轨迹,再通过运动学正解将关节轨迹转换为笛卡
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