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CLC

The document contains code that calculates the homogeneous transformation matrices between 6 links of a robot arm. It starts by getting user input for the angle of each joint and uses that to calculate the individual transformation matrices from one link to the next based on predefined distances, angles, etc. It displays each individual transformation matrix and finally calculates the total transformation matrix by multiplying all the individual matrices together.

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116 views3 pages

CLC

The document contains code that calculates the homogeneous transformation matrices between 6 links of a robot arm. It starts by getting user input for the angle of each joint and uses that to calculate the individual transformation matrices from one link to the next based on predefined distances, angles, etc. It displays each individual transformation matrix and finally calculates the total transformation matrix by multiplying all the individual matrices together.

Uploaded by

fer6669993
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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clc;

clear all;
close all;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%
%Eslabon cero a eslabon 1
ANG1=input('Ingrese el angulo Theta1:')
theta1=(180+ANG1);
d1=400;
a1=-180;
alp1=-90;
A1=[cosd(theta1)
-cosd(alp1)*sin(theta1) sind(alp1)*sind(theta1)
a1*cosd(theta1);...
;sind(theta1)
cosd(alp1)*cos(theta1) -sind(alp1)*cosd(theta1)
a1*sind(theta1);...
;0
sind(alp1)
cosd(alp1)
d1
;...
;0
0
0
1]
;
disp('MATRIZ DE TRANSFORMACION HOMOGENEA DE ESLABON 0 A 1')
Ai1=A1
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%
%Eslabon 1 a Eslabon 2
ANG2=input('Ingrese el angulo Theta2:')
theta2=(90+ANG2);
d2=0;
a2=-600;
alp2=0;
A2=[cosd(theta2)
-cosd(alp2)*sind(theta2) sind(alp2)*sind(theta2)
a2*cosd(theta2);...
;sind(theta2)
cosd(alp2)*cosd(theta2) -sind(alp2)*cosd(theta2)
a2*sind(theta2);...
;0
sind(alp2)
cosd(alp2)
d2
;...
;0
0
0
1]
;
disp('MATRIZ DE TRANSFORMACION HOMOGENEA DE ESLABON 1 A 2')
Ai2=A2
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%
%Eslabon 2 a Eslabon 3
ANG3=input('Ingrese el angulo Theta3:')
theta3=(ANG3);
d3=0;
a3=-170;
alp3=-90;
A3=[cosd(theta3)
-cosd(alp3)*sind(theta3) sind(alp3)*sind(theta3)
a3*cosd(theta3);...
;sind(theta3)
cosd(alp3)*cosd(theta3) -sind(alp3)*cosd(theta3)
a3*sind(theta3);...
;0
sind(alp3)
cosd(alp3)
d3
;...
;0
0
0
1]
;
disp('MATRIZ DE TRANSFORMACION HOMOGENEA DE ESLABON 2 A 3')

Ai3=A3
% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%
%Eslabon 3 a Eslabon 4
ANG4=input('Ingrese el angulo Theta4:')
theta4=(ANG4);
d4=620;
a4=0;
alp4=-90;
A4=[cosd(theta4)
-cosd(alp4)*sind(theta4) sind(alp4)*sind(theta4)
a4*cosd(theta4);...
;sind(theta4)
cosd(alp4)*cosd(theta4) -sind(alp4)*cosd(theta4)
a4*sind(theta4);...
;0
sind(alp4)
cosd(alp4)
d4
;...
;0
0
0
1]
;
disp('MATRIZ DE TRANSFORMACION HOMOGENEA DE ESLABON 3 A 4')
Ai4=A4
% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%
%Eslabon 4 a Eslabon 5
ANG5=input('Ingrese el angulo Theta5:')
theta5=(ANG5);
d5=0;
a5=0;
alp5=-90;
A5=[cosd(theta5)
-cosd(alp5)*sind(theta5) sind(alp5)*sind(theta5)
a5*cosd(theta5);...
;sind(theta5)
cosd(alp5)*cosd(theta5) -sind(alp5)*cosd(theta5)
a5*sind(theta5);...
;0
sind(alp5)
cosd(alp5)
d5
;...
;0
0
0
1]
;
disp('MATRIZ DE TRANSFORMACION HOMOGENEA DE ESLABON 4 A 5')
Ai5=A5
% % %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%
%Eslabon 5 a Eslabon 6
ANG6=input('Ingrese el angulo Theta6:')
theta6=(ANG6);
d6=-200;
a6=0;
alp6=0;
A6=[cosd(theta6)
-cosd(alp6)*sind(theta6) sind(alp6)*sind(theta6)
a6*cosd(theta6);...
;sind(theta6)
cosd(alp6)*cosd(theta6) -sind(alp6)*cosd(theta6)
a6*sind(theta6);...
;0
sind(alp6)
cosd(alp6)
d6
;...
;0
0
0
1]
;
disp('MATRIZ DE TRANSFORMACION HOMOGENEA DE ESLABON 4 A 5')
Ai6=A6

disp('MULTIPLCACION DE TODAS LAS MATRICES')


AT=A1*A2*A3*A4*A5*A6

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