Beruflich Dokumente
Kultur Dokumente
clc
clear all
px_2 = (link_2)*cosd(t_2_i);
py_2 = (link_2)*sind(t_2_i);
px_3 = (link_3)*cosd(t_3_i);
py_3 = (link_3)*sind(t_3_i);
%-------------------------------------------------------------------------
%vetores posi��o----------------------------------------------------------
p_1 = [px_1; py_1; 0; 1]; %[x;y;z=0;1]
p_2 = [px_2; py_2; 0; 1];
p_3 = [px_3; py_3; 0; 1];
%-------------------------------------------------------------------------
I = 200;
for k = 0:I
link2_x = [p_1_i(1,1),p_2_i(1,1)];
link2_y = [p_1_i(2,1),p_2_i(2,1)];
link3_x = [p_2_i(1,1),p_3_i(1,1)];
link3_y = [p_2_i(2,1),p_3_i(2,1)];
%---------------------------------------------------------------------
plot(link1_x,link1_y,'-o',link2_x,link2_y,'-o',link3_x,link3_y,'-
o','linewidth',2);
hold on
plot([0,0],[0,3],'-^k',[0,3],[0,0],'->k','linewidth',0.01)
axis ([-(link_1+link_2+link_3) (link_1+link_2+link_3) -(link_1+link_2+link_3)
(link_1+link_2+link_3)])
grid on
title('Exerc�cio 01');
xlabel('Eixo X');
ylabel('Eixo Y');
end_effectorx=num2str(p_3_i(1,1));
e_e_x=text(-7.5,-5,['Posi��oTool_x=
',end_effectorx],'BackgroundColor','w','EdgeColor','b','FontSize',14);
end_effectory=num2str(p_3_i(2,1));
E_e_y=text(-7.5,-7,['Posi��oTool_y=
',end_effectory],'BackgroundColor','w','EdgeColor','b','FontSize',14);
drawnow
fprintf('\nMatrizes de transforma��o:\n')
T1
T2
T3
T = T1*(T2*T3)