Scribd
Upload
20 views

Matriz Ejercicio 1

Uploaded by

Pedro Henriquez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
20 views

Matriz Ejercicio 1

Uploaded by

Pedro Henriquez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
You are on page 1/ 1

clear all

clc
syms q1 q2 q3 q4 q5 q6 l1 l2 l3 l4 d2 d3;

%theta d a alpha
dh=[ q1 l1 0 -pi/2 ;
q2 0 l2 0;
q3 0 0 pi/2;
q4 l3 0 -pi/2
q5 0 0 pi/2
q6 l4 0 0 ];
% Ahora se realizar? el ingreso de la Matriz TH
for j=1:6
theta_i=dh(j,1);
d_i =dh(j,2);
a_i =dh(j,3);
alpha_i=dh(j,4);

A(:,:,j)=[cos(theta_i) -cos(alpha_i)*sin(theta_i) sin(alpha_i)*sin(theta_i)


a_i*cos(theta_i);
sin(theta_i) cos(alpha_i)*cos(theta_i) -sin(alpha_i)*cos(theta_i)
a_i*sin(theta_i);
0 sin(alpha_i) cos(alpha_i)
d_i ;
0 0 0
1 ] ;
end
A(:,:,1);
A(:,:,2);
A(:,:,3);
A(:,:,4);
A(:,:,5);
A(:,:,6);
T=A(:,:,1)*A(:,:,2)*A(:,:,3)*A(:,:,4)*A(:,:,5)*A(:,:,6);
simplify(T)

You might also like