plotworkspace - Plot workspace of n-DOF planar robot
% drawworkspace
%{
This function plots a workspace for a planar n-DOF revolute or prismatic
given DH parameters and the constraints of all variables.
This function uses Robotics Toolbox by Peter Corke which can be
downloaded from :
https://petercorke.com/wordpress/toolboxes/robotics-toolbox
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Inputs
DH DH parameters each row is a link
q a cell input contains constraints for all variables
ordered from first link to last link.
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Example
a1 = 0.5;
a2 = 0.3;
a3 = 0.2;
DH(1) = Link([0 0 a1 0]);
DH(2) = Link([0 0 a2 0]);
DH(3) = Link([0 0 a3 0]);
th1 = (-pi/6:0.05:pi/6) ;
th2 = (-2*pi/3:0.05:2*pi/3);
th3 = (-pi/2:0.05:pi/2) ;
q = {th1,th2,th3};
All copyrights go to Mohammad Al-Fetyani
University of Jordan
Citation pour cette source
Mohammad Al-Fetyani (2024). plotworkspace - Plot workspace of n-DOF planar robot (https://www.mathworks.com/matlabcentral/fileexchange/71136-plotworkspace-plot-workspace-of-n-dof-planar-robot), MATLAB Central File Exchange. Récupéré le .
Compatibilité avec les versions de MATLAB
Plateformes compatibles
Windows macOS LinuxCatégories
- MATLAB > Data Import and Analysis > Visual Exploration >
- Engineering > Electrical and Computer Engineering > Robotics >
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