LAB 7 - for a negative height. 7.4) 7.5) 7.6) Intersection...

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Phillip Thomas LAB 7 ME 218 T 3-5 7.1) alpha = [0:pi/100:pi/2]; beta = [0:pi/100:pi]; d1 =1; d2=1; [ALPHA, BETA]= meshgrid(alpha,beta); R = d1*cos(ALPHA) + d2*cos(ALPHA + BETA); surf(ALPHA, BETA, R); 7.2) alpha = [0:pi/100:pi/2]; beta = [0:pi/100:pi]; d1 =1; d2=1; [ALPHA, BETA]= meshgrid(alpha,beta); R = d1*cos(ALPHA) + d2*cos(ALPHA + BETA); surf(ALPHA, BETA, R); xlabel( 'Alpha' ); ylabel( 'Beta' ); zlabel( 'R' );
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7.3) The angles that allow for greatest height are alpha = pi/2 and beta = 0 . The robot arm can reach down, but only if the dimensions of the alpha and beta arrays are changed because they currently do not allow
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Unformatted text preview: for a negative height. 7.4) 7.5) 7.6) Intersection @ (.1004, 1.465) 7.7) function jacobian = robotJacob(x) alpha = x(1); beta = x(2); d1 = 1.2; d2 = 1.2; a = (-d1*sin(alpha))-(d2*sin(alpha+beta)); b= -d2*sin(alpha + beta); c= d1*cos(alpha)+d2*cos(alpha+beta); d= d2*cos(alpha + beta); jacobian = [ a , b ; c , d ]; 7.8)a) Used values [ 1, 1] the m file returned the values alpha = -3.9999 and beta = 103.425 b) Bad values that I used were [5, 6 ] each caused Newtons method to fail....
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This note was uploaded on 06/23/2011 for the course ME 218 taught by Professor Unknown during the Fall '08 term at University of Texas at Austin.

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LAB 7 - for a negative height. 7.4) 7.5) 7.6) Intersection...

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