how to plot it the rrr manipulator links?
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http://i.imgur.com/b70b8zc.png I multiplied the declared matrix like this:
T = Rz*transz*Ry*transy*Rx*transx T =
0.4182 0.8711 -0.2575 1.1692
-0.4756 -0.0316 -0.8791 0.1847
-0.7739 0.4901 0.4011 5.2261
0 0 0 1.0000
The way I figured out is will use this for the x, y ,z point is:
0.4182 0.8711 -0.2575
-0.4756 -0.0316 -0.8791
-0.7739 0.4901 0.4011
and for
1.1692
0.1847
5.2261 will for end of the manipulator hand (link)
I doesnt know I make good ...but this is I tried.:
point1.x = T(1);point1.y = T(5);point1.z = T(9); point2.x = T(2);point2.y = T(6);point2.z = T(10); point3.x = T(3);point3.y = T(7);point3.z = T(11); point4.x = T(13);point4.y = T(14);point4.z = T(15);
l= line([point1.x, point2.x][point1.y,point2.y[point1.z,point2.z],'Color','r','LineWidth',4); l1 = line([point2.x,point3.x[point2.y,point3.y[point2.z,point3.z],'Color','b','LineWidth',4); l2 = line([point3.x,point4.x[point3.y,point4.y[point3.z,point4.z],'Color','g','LineWidth',4);
I get it this (a =b = c == 5 for lenght each link) </matlabcentral/answers/uploaded_files/10764/Capture.JPG>
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