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Codigo PR2

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Team series
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17 views

Codigo PR2

Uploaded by

Team series
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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for t= 1:3

for ith1= 1:length(theta1)


%x(t,ith1) = a1*cos(theta1(ith1)) + a2*cos(theta1(ith1)+
theta2_start_end(t))+a3*cos(theta1(ith1)+ theta2(ith1)+theta3_start_end(t));
%y(t,ith1) = a1*sin(theta1(ith1)) + a2*sin(theta1(ith1)+
theta2_start_end(t))+a3*sin(theta1(ith1)+ theta2(ith1)+theta3_start_end(t));
end

for ith2=1:length(theta2)
x(t+2,ith2) = a1*cos(theta1_start_end(t)) + a2*cos(theta1_start_end(t)+
theta2(ith2))+a3*cos(theta1_start_end(t)+theta2_start_end(t)+ theta3(ith2));
y(t+2,ith2) = a1*sin(theta1_start_end(t)) + a2*sin(theta1_start_end(t)+
theta2(ith2))+a3*sin(theta1_start_end(t)+theta2_start_end(t)+ theta3(ith2));
end
for ith3=1:length(theta3)
x(t+3,ith3) = a1*cos(theta1_start_end(t)) + a2*cos(theta1_start_end(t)+
theta2_start_end(t))+a3*cos(theta1_start_end(t)+ theta2_start_end(t)+theta3(ith3));
y(t+3,ith3) = a1*sin(theta1_start_end(t)) + a2*sin(theta1_start_end(t)+
theta2_start_end(t))+a3*sin(theta1_start_end(t)+ theta2_start_end(t)+theta3(ith3));
end

end

x=x';
y=y';

plot (x(:,1),y(:,1), 'k')


hold on
plot (x(:,2),y(:,2), 'm')
plot (x(:,3),y(:,3), 'r')
plot (x(:,4),y(:,4), 'b')
end

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