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- %% Dane
- pyp=5
- pxp=5
- pyk=5
- pxk=-10
- tk=10;
- tp=0
- L1=5.8;
- L2=1;
- %% p na q (z odwrotnej)
- q2p=acos((pyp^2+pxp^2-L1^2-L2^2)/(2*L1*L2))
- q1p=asin((L2*sin(q2p))/(sqrt(pxp^2+pyp^2))+atan(pxp/pyp))
- QP=[q1p;q2p]
- q2k=acos((pyk^2+pxk^2-L1^2-L2^2)/(2*L1*L2))
- q1k=asin((L2*sin(q2k))/(sqrt(pxk^2+pyk^2))+atan(pxk/pyk))
- QK=[q1k;q2k]
- %% Wspolczynniki
- a0=QP;
- a1=0;
- a2=3*((QK-QP)/tk^2)
- a3=-2*((QK-QP)/tk^3)
- t=0:0.01:tk;
- y=a0+a1*t+a2*t.^2+a3*t.^3;
- figure(1)
- plot(t,y);
- %% Trajektoria
- figure(2)
- for t=0:0.01:tk
- y=a0+a1*t+a2*t.^2+a3*t.^3;
- PXD=L1*cos(y(1,1))+L2*cos(y(1,1)+y(2,1));
- PYD=L1*sin(y(1,1))+L2*sin(y(1,1)+y(2,1));
- plot(PXD,PYD,'bo')
- hold on
- end
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