ME218 LAB 7 - alpha = x(1); beta = x(2); d1 = 1.2; d2 =...

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

View Full Document Right Arrow Icon
Greg Gangluff ME 218 T 1-3 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); 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' );
Background image of page 1

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

View Full DocumentRight Arrow Icon
7.3) 7.4)
Background image of page 2
7.5)
Background image of page 3

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

View Full DocumentRight Arrow Icon
7.6) Intersection @ (.1004, 1.465)
Background image of page 4
7.7) function jacobian = robotJacob(x)
Background image of page 5
This is the end of the preview. Sign up to access the rest of the document.

Unformatted text preview: 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....
View Full Document

Page1 / 5

ME218 LAB 7 - alpha = x(1); beta = x(2); d1 = 1.2; d2 =...

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

View Full Document Right Arrow Icon
Ask a homework question - tutors are online