SetDirectory["E:\\My_Software_File\\Mathematica"];
<< Screws.m
<< RobotLinks.m
Get::noopen: Cannot open Graphics`Shapes`.
Needs::nocont: Context Graphics`Shapes` was not created when Needs was evaluated.
Get::noopen: Cannot open LinearAlgebra`CrossProduct`.
Needs::nocont: Context LinearAlgebra`CrossProduct` was not created when Needs was evaluated.
xi1 = RevoluteTwist[{0, 0, 0}, {0, 0, 1}];(*base*)xi2 =
RevoluteTwist[{0, l1, 0}, {0, 0, 1}];(*elbow*)xi3 =
RevoluteTwist[{0, l1 + l2, 0}, {0, 0, 1}];(*wrist*)xi4 =
PrismaticTwist[{0, 0, 0}, {0, 0, 1}];
(*Location of the tool frame at reference configuration*)
gst0 = RPToHomogeneous[IdentityMatrix[3], {0, l1 + l2, 0}];
(*Forward kinematics map*)
gst = Simplify[
ForwardKinematics[{xi1, th1}, {xi2, th2}, {xi3, th3}, {xi4, th4},
gst0]];
Js = Simplify[
SpatialJacobian[{xi1, th1}, {xi2, th2}, {xi3, th3}, {xi4, th4},
gst0]];
在导入
<< Screws.m
<< RobotLinks.m
时，出现错误
Get::noopen: Cannot open Graphics`Shapes`.
Needs::nocont: Context Graphics`Shapes` was not created when Needs was evaluated.
Get::noopen: Cannot open LinearAlgebra`CrossProduct`.
Needs::nocont: Context LinearAlgebra`CrossProduct` was not created when Needs was evaluated.

这是上古程序包了吧，里面的代码已经过时了。

也遇到了同样的问题，
lz
解决了吗