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Assignment 5 2021A4PS3065H

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21 views2 pages

Assignment 5 2021A4PS3065H

Uploaded by

www.nuthang
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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% Define the trajectory functions

T = 0:0.01:1;

X = 1 – 6*t.^2 + 4*t.^3;

Y = 1.5*ones(size(t));

% Plot X vs t and Y vs t

Figure;

Plot(t, x);

Xlabel(‘t’); ylabel(‘X’); title(‘X vs t’);

Figure;

Plot(t, y);

Xlabel(‘t’); ylabel(‘Y’); title(‘Y vs t’);

% Define the link lengths

L1 = 1; l2 = 1;

% Initialize arrays to store joint angles

Theta1 = zeros(size(t));

Theta2 = zeros(size(t));

% Calculate joint angles using inverse kinematics

For I = 1:length(t)

% Calculate the joint angles using inverse kinematics equations

R = sqrt(x(i)^2 + y(i)^2);

Theta1(i) = atan2(y(i), x(i));

Theta2(i) = acos((r^2 + l1^2 – l2^2) / (2*l1*r));

End
% Plot θ1 vs t and θ2 vs t

Figure;

Plot(t, theta1);

Xlabel(‘t’); ylabel(‘θ1’); title(‘θ1 vs t’);

Figure;

Plot(t, theta2);

Xlabel(‘t’); ylabel(‘θ2’); title(‘θ2 vs t’);

% Animate the 2R manipulator

Figure;

For I = 1:length(t)

Cla;

Plot([0 x(i)], [0 y(i)], ‘k-‘);

Hold on;

Plot([0 l1*cos(theta1(i))], [0 l1*sin(theta1(i))], ‘b-‘);

Plot([l1*cos(theta1(i)) x(i)], [l1*sin(theta1(i)) y(i)], ‘r-‘);

Axis equal;

Pause(0.01);

End

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