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- clear all
- close all
- t=linspace(0,10);
- theta1=26.565-3.49695*t.^2 +0.23313*t.^3;
- d2=sqrt(5)+0.02292*t.^2 -1.528*10^(-3)*t.^3;
- theta3=-90+9*t;
- figure(1)
- subplot(3,1,1)
- plot(t,theta1)
- grid on
- xlabel('t')
- ylabel('theta1')
- subplot(3,1,2)
- plot(t,d2)
- grid on
- xlabel('t')
- ylabel('d2')
- subplot(3,1,3)
- plot(t,theta3)
- grid on
- xlabel('t')
- ylabel('theta3')
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- theta1=(26.565-3.49695*t.^2 +0.23313*t.^3)*(pi/180);
- d2=sqrt(5)+0.02292*t.^2 -1.528*10^(-3)*t.^3;
- x0=d2.*cos(theta1)
- y0=d2.*sin(theta1)
- figure(2)
- plot(y0,x0)
- xlabel('y0')
- ylabel('x0')
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- clear all
- t=linspace(0,5);
- t2=linspace(5,10);
- t3=linspace(0,10);
- theta3=-90+9*t3;
- thetaf=-26.565;
- theta0=26.565;
- a01=26.565;
- a11=0;
- a21=(3/5^2)*(thetaf-theta0) -(1/5)*(-10.62);
- a31=(-2/5^3)*(thetaf-theta0) +(1/5^2)*(-10.62);
- a02=atand(2)-90;
- a12=-10.62;
- a22=(3/5^2)*(-90-thetaf)-(2/5)*(-10.62);
- a32=(-2/5^3)*(-90-thetaf)+(1/5^2)*(-10.62);
- theta11=a01+a21*t.^2 +a31*t.^3;
- d21=sqrt(5);
- theta12=a02+a12*(t)+a22*(t).^2 +a32*(t).^3;
- d22=sqrt(5)+0.0917*(t).^2 -0.0122*(t).^3;
- figure(3)
- subplot(3,1,1)
- plot(t,theta11)
- hold on
- plot(t2,theta12)
- grid on
- xlabel('t')
- ylabel('theta1')
- subplot(3,1,2)
- plot(t,d21);
- hold on
- plot(t2,d22)
- grid on
- xlabel('t')
- ylabel('d2')
- subplot(3,1,3)
- plot(t3,theta3)
- grid on
- xlabel('t')
- ylabel('theta3')
- %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- ad0=sqrt(5);
- ad1=0;
- ad2=(3/5^2)*(sqrt(9)-sqrt(5));
- ad3=(-2/5^3)*(sqrt(9)-sqrt(5));
- d22=sqrt(5)+ad2*(t2-5).^2 +ad3*(t2-5).^3;
- x01=d21.*cosd(theta11);
- y01=d21.*sind(theta11);
- x02=d22.*cosd(theta12);
- y02=d22.*sind(theta12);
- figure(4)
- plot(y01,x01)
- hold on
- plot(y02,x02)
- xlabel('y0')
- ylabel('x0')
- hold off
- figure(5)
- plot(theta12)
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