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Matlab Code For Robotic Arm

The document contains Matlab code that defines points in 3D space and connects them with lines to form shapes. It applies 3D transformations - translation, rotation, and projection - to the points and animates the changing shapes over time. Functions are defined to perform the transformations, taking an input matrix of old point positions and returning a new matrix with the transformed point positions.

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Yashwant Rajeshirke
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110 views

Matlab Code For Robotic Arm

The document contains Matlab code that defines points in 3D space and connects them with lines to form shapes. It applies 3D transformations - translation, rotation, and projection - to the points and animates the changing shapes over time. Functions are defined to perform the transformations, taking an input matrix of old point positions and returning a new matrix with the transformed point positions.

Uploaded by

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

Problem Statement

Matlab Code
clc
close all
clear all
ax = 0;
ay = 0;
az = 0;
bx = 0;
by = 0;
bz = 1;
cx = 1;
cy = 0;
cz = 1;
dx = 1;
dy = 0;
dz = 0;
ex = 1;
ey = 1;
ez = 0;
fx = 0;
fy = 1;
fz = 0;
gx = 0;
gy = 1;
gz = 1;
hx = 1;
hy = 1;
hz = 1;
plot3([ax,bx],[ay,by],[az,bz],'k')
axis([-5 10 -5 10 -5 10])
hold on
plot3([bx,cx],[by,cy],[bz,cz],'k')
hold on
plot3([cx,dx],[cy,dy],[cz,dz],'k')
hold on
plot3([dx,ax],[dy,ay],[dz,az],'k')
hold on
plot3([cx,hx],[cy,hy],[cz,hz],'k')
hold on
plot3([bx,gx],[by,gy],[bz,gz],'k')
hold on
plot3([dx,ex],[dy,ey],[dz,ez],'k')
hold on
plot3([ax,fx],[ay,fy],[az,fz],'k')
hold on
plot3([ex,fx],[ey,fy],[ez,fz],'k')
hold on
plot3([fx,gx],[fy,gy],[fz,gz],'k')
hold on
plot3([gx,hx],[gy,hy],[gz,hz],'k')
hold on
plot3([hx,ex],[hy,ey],[hz,ez],'k')
hold on
text(ax,ay,az,'A','fontsize',10)
text(bx,by,bz,'B','fontsize',10)
text(cx,cy,cz,'C','fontsize',10)
text(dx,dy,dz,'D','fontsize',10)
text(ex,ey,ez,'E','fontsize',10)
text(fx,fy,fz,'F','fontsize',10)
text(gx,gy,gz,'G','fontsize',10)
text(hx,hy,hz,'H','fontsize',10)
tx=9;
ty=8;
tz=1;
ux=8;
uy=9;
uz=1;
vx=7;
vy=8;
vz=1;
wx=8;
wy=7;
wz=1;
px=9;
py=8;
pz=0;
qx=8;
qy=9;
qz=0;
rx=7;
ry=8;
rz=0;
sx=8;
sy=7;
sz=0;
plot3([tx,ux],[ty,uy],[tz,uz],'b')
axis([-5 10 -5 10 -5 10])
hold on
plot3([ux,wx],[uy,wy],[uz,wz],'b')
hold on
plot3([vx,wx],[vy,wy],[vz,wz],'b')
hold on
plot3([vx,tx],[vy,ty],[vz,tz],'b')
hold on
plot3([px,qx],[py,qy],[pz,qz],'b')
hold on
plot3([qx,sx],[qy,sy],[qz,sz],'b')
hold on
plot3([sx,rx],[sy,ry],[sz,rz],'b')
hold on
plot3([rx,px],[ry,py],[rz,pz],'b')
hold on
plot3([px,tx],[py,ty],[pz,tz],'b')
hold on
plot3([rx,vx],[ry,vy],[rz,vz],'b')
hold on
plot3([qx,ux],[qy,uy],[qz,uz],'b')
hold on
plot3([sx,wx],[sy,wy],[sz,wz],'b')
hold on
text(tx,ty,tz,'T','fontsize',10)
text(ux,uy,uz,'U','fontsize',10)
text(vx,vy,vz,'V','fontsize',10)
text(wx,wy,wz,'W','fontsize',10)
text(px,py,pz,'P','fontsize',10)
text(qx,qy,qz,'Q','fontsize',10)
text(rx,ry,rz,'R','fontsize',10)
text(sx,sy,sz,'S','fontsize',10)
Aold = [ax;ay;az;1];
Bold = [bx;by;bz;1];
Cold = [cx;cy;cz;1];
Dold = [dx;dy;dz;1];
Eold = [ex;ey;ez;1];
Fold = [fx;fy;fz;1];
Gold = [gx;gy;gz;1];
Hold = [hx;hy;hz;1];
OldPos = [Aold,Bold,Cold,Dold,Eold,Fold,Gold,Hold];
NewPos= trans3d(1,OldPos);
Axnew = NewPos(1,1);
Aynew = NewPos(2,1);
Aznew = NewPos(3,1);
Bxnew = NewPos(1,2);
Bynew = NewPos(2,2);
Bznew = NewPos(3,2);
Cxnew = NewPos(1,3);
Cynew = NewPos(2,3);
Cznew = NewPos(3,3);
Dxnew = NewPos(1,4);
Dynew = NewPos(2,4);
Dznew = NewPos(3,4);
Exnew = NewPos(1,5);
Eynew = NewPos(2,5);
Eznew = NewPos(3,5);
Fxnew = NewPos(1,6);
Fynew = NewPos(2,6);
Fznew = NewPos(3,6);
Gxnew = NewPos(1,7);
Gynew = NewPos(2,7);
Gznew = NewPos(3,7);
Hxnew = NewPos(1,8);
Hynew = NewPos(2,8);
Hznew = NewPos(3,8);
plot3([Axnew,Bxnew],[Aynew,Bynew],[Aznew,Bznew],'r')
axis([-5 10 -5 10 -5 10])
hold on
plot3([Bxnew,Cxnew],[Bynew,Cynew],[Bznew,Cznew],'r')
hold on
plot3([Cxnew,Dxnew],[Cynew,Dynew],[Cznew,Dznew],'r')
hold on
plot3([Dxnew,Axnew],[Dynew,Aynew],[Dznew,Aznew],'r')
hold on
plot3([Cxnew,Hxnew],[Cynew,Hynew],[Cznew,Hznew],'r')
hold on
plot3([Bxnew,Gxnew],[Bynew,Gynew],[Bznew,Gznew],'r')
hold on
plot3([Dxnew,Exnew],[Dynew,Eynew],[Dznew,Eznew],'r')
hold on
plot3([Axnew,Fxnew],[Aynew,Fynew],[Aznew,Fznew],'r')
hold on
plot3([Exnew,Fxnew],[Eynew,Fynew],[Eznew,Fznew],'r')
hold on
plot3([Fxnew,Gxnew],[Fynew,Gynew],[Fznew,Gznew],'r')
hold on
plot3([Gxnew,Hxnew],[Gynew,Hynew],[Gznew,Hznew],'r')
hold on
plot3([Hxnew,Exnew],[Hynew,Eynew],[Hznew,Eznew],'r')
hold on
text(Axnew,Aynew,Aznew,'A','fontsize',10)
text(Bxnew,Bynew,Bznew,'B','fontsize',10)
text(Cxnew,Cynew,Cznew,'C','fontsize',10)
text(Dxnew,Dynew,Dznew,'D','fontsize',10)
text(Exnew,Eynew,Eznew,'E','fontsize',10)
text(Fxnew,Fynew,Fznew,'F','fontsize',10)
text(Gxnew,Gynew,Gznew,'G','fontsize',10)
text(Hxnew,Hynew,Hznew,'H','fontsize',10)
OldPos = NewPos;
NewPos= trans3d(2,OldPos);
Axnew = NewPos(1,1);
Aynew = NewPos(2,1);
Aznew = NewPos(3,1);
Bxnew = NewPos(1,2);
Bynew = NewPos(2,2);
Bznew = NewPos(3,2);
Cxnew = NewPos(1,3);
Cynew = NewPos(2,3);
Cznew = NewPos(3,3);
Dxnew = NewPos(1,4);
Dynew = NewPos(2,4);
Dznew = NewPos(3,4);
Exnew = NewPos(1,5);
Eynew = NewPos(2,5);
Eznew = NewPos(3,5);
Fxnew = NewPos(1,6);
Fynew = NewPos(2,6);
Fznew = NewPos(3,6);
Gxnew = NewPos(1,7);
Gynew = NewPos(2,7);
Gznew = NewPos(3,7);
Hxnew = NewPos(1,8);
Hynew = NewPos(2,8);
Hznew = NewPos(3,8);
plot3([Axnew,Bxnew],[Aynew,Bynew],[Aznew,Bznew],'r')
axis([-5 10 -5 10 -5 10])
hold on
plot3([Bxnew,Cxnew],[Bynew,Cynew],[Bznew,Cznew],'r')
hold on
plot3([Cxnew,Dxnew],[Cynew,Dynew],[Cznew,Dznew],'r')
hold on
plot3([Dxnew,Axnew],[Dynew,Aynew],[Dznew,Aznew],'r')
hold on
plot3([Cxnew,Hxnew],[Cynew,Hynew],[Cznew,Hznew],'r')
hold on
plot3([Bxnew,Gxnew],[Bynew,Gynew],[Bznew,Gznew],'r')
hold on
plot3([Dxnew,Exnew],[Dynew,Eynew],[Dznew,Eznew],'r')
hold on
plot3([Axnew,Fxnew],[Aynew,Fynew],[Aznew,Fznew],'r')
hold on
plot3([Exnew,Fxnew],[Eynew,Fynew],[Eznew,Fznew],'r')
hold on
plot3([Fxnew,Gxnew],[Fynew,Gynew],[Fznew,Gznew],'r')
hold on
plot3([Gxnew,Hxnew],[Gynew,Hynew],[Gznew,Hznew],'r')
hold on
plot3([Hxnew,Exnew],[Hynew,Eynew],[Hznew,Eznew],'r')
hold on
text(Axnew,Aynew,Aznew,'A','fontsize',10)
text(Bxnew,Bynew,Bznew,'B','fontsize',10)
text(Cxnew,Cynew,Cznew,'C','fontsize',10)
text(Dxnew,Dynew,Dznew,'D','fontsize',10)
text(Exnew,Eynew,Eznew,'E','fontsize',10)
text(Fxnew,Fynew,Fznew,'F','fontsize',10)
text(Gxnew,Gynew,Gznew,'G','fontsize',10)
text(Hxnew,Hynew,Hznew,'H','fontsize',10)
OldPos = NewPos;
NewPos= trans3d(3,OldPos);
Axnew = NewPos(1,1);
Aynew = NewPos(2,1);
Aznew = NewPos(3,1);
Bxnew = NewPos(1,2);
Bynew = NewPos(2,2);
Bznew = NewPos(3,2);
Cxnew = NewPos(1,3);
Cynew = NewPos(2,3);
Cznew = NewPos(3,3);
Dxnew = NewPos(1,4);
Dynew = NewPos(2,4);
Dznew = NewPos(3,4);
Exnew = NewPos(1,5);
Eynew = NewPos(2,5);
Eznew = NewPos(3,5);
Fxnew = NewPos(1,6);
Fynew = NewPos(2,6);
Fznew = NewPos(3,6);
Gxnew = NewPos(1,7);
Gynew = NewPos(2,7);
Gznew = NewPos(3,7);
Hxnew = NewPos(1,8);
Hynew = NewPos(2,8);
Hznew = NewPos(3,8);
plot3([Axnew,Bxnew],[Aynew,Bynew],[Aznew,Bznew],'m')
axis([-5 10 -5 10 -5 10])
hold on
plot3([Bxnew,Cxnew],[Bynew,Cynew],[Bznew,Cznew],'m')
hold on
plot3([Cxnew,Dxnew],[Cynew,Dynew],[Cznew,Dznew],'m')
hold on
plot3([Dxnew,Axnew],[Dynew,Aynew],[Dznew,Aznew],'m')
hold on
plot3([Cxnew,Hxnew],[Cynew,Hynew],[Cznew,Hznew],'m')
hold on
plot3([Bxnew,Gxnew],[Bynew,Gynew],[Bznew,Gznew],'r')
hold on
plot3([Dxnew,Exnew],[Dynew,Eynew],[Dznew,Eznew],'m')
hold on
plot3([Axnew,Fxnew],[Aynew,Fynew],[Aznew,Fznew],'m')
hold on
plot3([Exnew,Fxnew],[Eynew,Fynew],[Eznew,Fznew],'m')
hold on
plot3([Fxnew,Gxnew],[Fynew,Gynew],[Fznew,Gznew],'m')
hold on
plot3([Gxnew,Hxnew],[Gynew,Hynew],[Gznew,Hznew],'m')
hold on
plot3([Hxnew,Exnew],[Hynew,Eynew],[Hznew,Eznew],'m')
hold on
text(Axnew,Aynew,Aznew,'A','fontsize',10)
text(Bxnew,Bynew,Bznew,'B','fontsize',10)
text(Cxnew,Cynew,Cznew,'C','fontsize',10)
text(Dxnew,Dynew,Dznew,'D','fontsize',10)
text(Exnew,Eynew,Eznew,'E','fontsize',10)
text(Fxnew,Fynew,Fznew,'F','fontsize',10)
text(Gxnew,Gynew,Gznew,'G','fontsize',10)
text(Hxnew,Hynew,Hznew,'H','fontsize',10)

function [newpoint] = trans3d(type,oldpoint)

if type == 1 % Translation
p = 7.5;
q = 7.5;
r = -0.5;
TRANS = [1 0 0 p;...
0 1 0 q;...
0 0 1 r;...
0 0 0 1];
MAT = TRANS;

elseif type == 2 % Rotation


theta = 45;
ROT = [cosd(theta) -sind(theta) 0 0;...
sind(theta) cosd(theta) 0 0;...
0 0 1 0;...
0 0 0 1];
MAT = ROT;
elseif type == 3 % Projection on xy plane
PROJXY = [0 0 0 0;...
0 1 0 0;...
0 0 1 0;...
0 0 0 1];
MAT = PROJXY;
end
newpoint = MAT*oldpoint;
end

Result
Tutorial:
1. 2D Transformation (Translation, Shearing & Rotation)
Result
Tutorial:
2. 3D Transformation (Translation, Shearing & Rotation)
Results
Tutorial:
3. Conic Sections and Cubic Splines
Results
Tutorial:
4. Bezier Curves and B Splines Surfaces of Revolution
Results
Tutorial:
5. Surfaces of Revolution
Results
Tutorial:
6. Ruled and Sweep Surfaces
Results
Tutorial:
7. Bilinear and Coon’s Surfaces
Results
Tutorial:
8. Consider the bar as shown in the figure below.
Determine the nodal displacements and support
Results
Assignment 1

Assignment 2
Assignment 3

Assignment 4
Assignment 5
Assignment 6

Assignment 7
Assignment 8

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