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this is forward: close all; clc; clear; global l 1 l 2 l 3 l 4 l 5 l 6 ; l 1 = 3
this is forward: close all; clc; clear; global l l l l l l; l; Length of link BC l; Length of link AD l; Length of link DE l; Length of link CE l; Length of link EP l; Length of link AB function Px Py forwardthetadeg, thetadeg global l l l l l l Convert degrees to radians theta degradthetadeg; theta degradthetadeg; Calculate positions of joints A ; B l; D l costheta l sintheta; C l l costheta l sintheta; Calculate angle th using vector loop closure Rl; lcostheta; sintheta; R lcostheta; sintheta; R lcospi theta; sinpi theta; E R R; Calculate the position of the endeffector P P E lcospi theta; sinpi theta; Px P; Py P; end Call the forward function Px Py forward; Display the results dispPx: numstrPx; dispPy: numstrPy; this is inverse code: close all; clc; clear; Define global variables global l l l l l l l; Length of link BC l; Length of link AD l; Length of link DE l; Length of link CE l; Length of link EP l; Length of link AB Example usage for inverse kinematics Xp ; Yp ; Call the solveangles function thetadeg, thetadeg solveanglesXp Yp; Display the results dispTheta in degrees: numstrthetadeg; dispTheta in degrees: numstrthetadeg; function thetadeg, thetadeg solveanglesXp Yp global l l l l l l initialguess pi pi; options optimoptionslsqnonlin 'Display', 'iter', 'MaxFunctionEvaluations', 'MaxIterations', ; solution lsqnonlin@equations, initialguess, options, Xp Yp; theta solution; theta solution; Convert radians to degrees thetadeg raddegtheta; thetadeg raddegtheta; function F equationsvars Xp Yp theta vars; theta vars; Calculate positions of joints A ; B l; D l costheta l sintheta; C l l costheta l sintheta; Calculate angle th using vector loop closure Rl; lcostheta; sintheta; R lcostheta; sintheta; R lcospi theta; sinpi theta; E R R; Calculate the position of the endeffector P P E lcospi theta; sinpi theta; eq P Xp; eq P Yp; F eq; eq; end end code inverse is wrong can't return as same as the and the D
this is forward:
close all;
clc;
clear;
global l l l l l l;
l; Length of link BC
l; Length of link AD
l; Length of link DE
l; Length of link CE
l; Length of link EP
l; Length of link AB
function Px Py forwardthetadeg, thetadeg
global l l l l l l
Convert degrees to radians
theta degradthetadeg;
theta degradthetadeg;
Calculate positions of joints
A ;
B l;
D l costheta l sintheta;
C l l costheta l sintheta;
Calculate angle th using vector loop closure
Rl; lcostheta; sintheta;
R lcostheta; sintheta;
R lcospi theta; sinpi theta;
E R R;
Calculate the position of the endeffector P
P E lcospi theta; sinpi theta;
Px P;
Py P;
end
Call the forward function
Px Py forward;
Display the results
dispPx: numstrPx;
dispPy: numstrPy;
this is inverse code:
close all;
clc;
clear;
Define global variables
global l l l l l l
l; Length of link BC
l; Length of link AD
l; Length of link DE
l; Length of link CE
l; Length of link EP
l; Length of link AB
Example usage for inverse kinematics
Xp ;
Yp ;
Call the solveangles function
thetadeg, thetadeg solveanglesXp Yp;
Display the results
dispTheta in degrees: numstrthetadeg;
dispTheta in degrees: numstrthetadeg;
function thetadeg, thetadeg solveanglesXp Yp
global l l l l l l
initialguess pi pi;
options optimoptionslsqnonlin 'Display', 'iter', 'MaxFunctionEvaluations', 'MaxIterations', ;
solution lsqnonlin@equations, initialguess, options, Xp Yp;
theta solution;
theta solution;
Convert radians to degrees
thetadeg raddegtheta;
thetadeg raddegtheta;
function F equationsvars Xp Yp
theta vars;
theta vars;
Calculate positions of joints
A ;
B l;
D l costheta l sintheta;
C l l costheta l sintheta;
Calculate angle th using vector loop closure
Rl; lcostheta; sintheta;
R lcostheta; sintheta;
R lcospi theta; sinpi theta;
E R R;
Calculate the position of the endeffector P
P E lcospi theta; sinpi theta;
eq P Xp;
eq P Yp;
F eq; eq;
end
end
code inverse is wrong can't return as same as the and the
D
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