{[ promptMessage ]}

Bookmark it

{[ promptMessage ]}

# LAB 7 - for a negative height 7.4 7.5 7.6 Intersection.1004...

This preview shows pages 1–5. Sign up to view the full content.

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' );

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
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

This preview has intentionally blurred sections. Sign up to view the full version.

View Full Document
This is the end of the preview. Sign up to access the rest of the document.

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 Newton’s method to fail....
View Full Document

{[ snackBarMessage ]}

### Page1 / 5

LAB 7 - for a negative height 7.4 7.5 7.6 Intersection.1004...

This preview shows document pages 1 - 5. Sign up to view the full document.

View Full Document
Ask a homework question - tutors are online