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plotworkspace - Plot workspace of n-DOF planar robot

version 1.0.2 (1.62 KB) by Mohammad Al-Fetyani
This function plots a workspace for a planar n-DOF revolute or prismatic given DH parameters and the constraints of all variables.

8 Downloads

Updated 08 Apr 2019

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% 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
----------------------------------------------
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.
---------------------------------------------------------------------
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

Cite As

Mohammad Al-Fetyani (2019). 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. Retrieved .

Comments and Ratings (1)

Updates

1.0.2

name

1.0.1

Image added

MATLAB Release Compatibility
Created with R2019a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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