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- teta2=1:1:360;
- A = -cosd(teta2) + k1 + (k2 * cosd(teta2)) - k3;
- B = (2 * sind(teta2));
- C = cosd(teta2) - k1 + (k2 * cosd(teta2)) - k3;
- D = cosd(teta2) - k1 + (k4 * cosd(teta2)) + k5;
- E = -2 * sind(teta2);
- F = k1 + ((k4 - 1) * cosd(teta2)) + k5;
- tan3a = (-E + sqrt(E.^2 - (4 .* D .* F)))/ (2 .* D);
- tan3b = (-E - sqrt(E.^2 - (4 .* D .* F)))/ (2 .* D);
- teta3a = abs((atan(tan3a) * 180) / pi);
- teta3b = abs((atan(tan3b) * 180) / pi);
- tan4a = (-B + sqrt(B.^2 - (4 .* A .* C)))/ (2 .* A);
- tan4b = (-B - sqrt(B.^2 - (4 .* A .* C)))/ (2 .* A);
- teta4a = abs((atan(tan4a) * 180) / pi);
- teta4b = abs((atan(tan4b) * 180) / pi);
- plot(teta2,teta3a,'r-',teta2,teta3b,'g-',teta2,teta4a,'b-',teta2,teta4b,'y-'),grid on;
- title('Gráfica del ciclo completo de teta3 y teta4')
- xlabel('Teta2')
- ylabel('Ángulo')
- legend('Primera posición de teta3','Segunda posición de teta3','Primera posición de teta4','Segunda posición de teta4')
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