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# lab7 - can reach down but only if the dimensions of the...

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Doug Rivas ME 218 Lab 7 M 5-7 7.1 robotlab.m: alpha = [0:pi/100:pi/2]; beta = [0: pi/100: pi]; [alpha, beta]= meshgrid(0: pi/100: pi/2,0: pi/100: pi/2); R= cos(alpha) + cos(alpha + beta); surf(alpha, beta, R) (Matlab outputs graph, therefore dimensions agree) 7.2 robotlab.m: alpha = [0:pi/100:pi/2]; beta = [0: pi/100: pi]; [alpha, beta]= meshgrid(0: pi/100: pi/2,0: pi/100: pi/2); R= cos(alpha) + cos(alpha + beta);

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surf(alpha, beta, R) xlabel( 'alpha' ) ylabel( 'beta' ) zlabel( 'R' ) 7.3 The angles that allow for greatest height are alpha = pi/2 and beta = 0 . The robot arm
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Unformatted text preview: can reach down, but only if the dimensions of the alpha and beta arrays are changed because they currently do not allow for a negative height. 7.4 7.5 Same as figure above. 7.6 7.7 Where Ang is a 1x2 matrix, [alpha beta], robotJac.m: function [ Jac ] = robotJac( Ang ) %NEWTONSYS Summary of this function goes here % Detailed explanation goes here Jac(1,1)= -1.2*sin(Ang(1))-1.2*sin(sum(Ang)); Jac(1,2)= -1.2*sin(sum(Ang)); Jac(2,1)= 1.2*cos(Ang(1))+1.2*cos(sum(Ang)); Jac(2,2)= 1.2*cos(sum(Ang)); 7.8...
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