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Assignment 6 (Partc) matlab code

robotics assignment

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Karthy Asokan
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13 views

Assignment 6 (Partc) matlab code

robotics assignment

Uploaded by

Karthy Asokan
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
You are on page 1/ 5

clear;

clc;

% Parameters

L1 = 1; % Length of link 1

L2 = 1; % Length of link 2

dt = 0.01; % Time step size

t = 0:dt:1; % Time vector

% Initial joint angles

theta1 = 0;

theta2 = pi;

% Preallocate arrays for incremental changes in joint angles

dTheta1 = zeros(1, length(t)-1);

dTheta2 = zeros(1, length(t)-1);

% Initial end-effector position

x_init = L1 * cos(theta1) + L2 * cos(theta1 + theta2);

y_init = L1 * sin(theta1) + L2 * sin(theta1 + theta2);

% Final end-effector position

x_final = 1;

y_final = 1;

% Total incremental steps in x and y directions

deltaX_total = x_final - x_init;

deltaY_total = y_final - y_init;

deltaX_step = deltaX_total / (length(t) - 1);

deltaY_step = deltaY_total / (length(t) - 1);

% Initialize end-effector position

x = x_init;

y = y_init;

% Loop to compute incremental joint angles for each time step

for i = 1:length(t)-1
% Update end-effector position incrementally

x = x + deltaX_step;

y = y + deltaY_step;

% Compute Jacobian matrix

J = [-L1*sin(theta1) - L2*sin(theta1 + theta2), -L2*sin(theta1 + theta2);

L1*cos(theta1) + L2*cos(theta1 + theta2), L2*cos(theta1 +


theta2)];

% Define the position change vector

deltaXY = [deltaX_step; deltaY_step];

% Solve for deltaTheta without calculating the inverse

deltaTheta = J \ deltaXY;

% Store incremental joint angle changes

dTheta1(i) = deltaTheta(1);

dTheta2(i) = deltaTheta(2);

% Update joint angles for the next iteration

theta1 = theta1 + dTheta1(i);

theta2 = theta2 + dTheta2(i);

end

% Store results in a matrix and display them

dTheta = [dTheta1; dTheta2];

disp('Delta theta values (dTheta1 and dTheta2) for each step:');

disp(dTheta);

Result:

Warning: Matrix is close to singular or badly scaled. Results may be


inaccurate. RCOND = 1.224647e-16.

> In matlabAssignment2c (line 50)

Delta theta values (dTheta1 and dTheta2) for each step:


1.0e+13 *

Columns 1 through 10

-8.1656 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

-0.0000 0.0000 0.0000 -0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

Columns 11 through 20

-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

Columns 21 through 30

-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

Columns 31 through 40

-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

Columns 41 through 50
-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -
0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

Columns 51 through 60

-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

Columns 61 through 70

-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

Columns 71 through 80

-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

Columns 81 through 90

-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000
Columns 91 through 100

-0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -0.0000 -


0.0000 -0.0000 -0.0000

0.0000 0.0000 0.0000 0.0000 0.0000 0.0000 0.0000


0.0000 0.0000 0.0000

>>

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