Professional Documents
Culture Documents
avance - lab 9 - grupo 7 (1)
avance - lab 9 - grupo 7 (1)
EJERCICIO 2
MATLAB Command Window Page 1
>> Untitled
a =
[cos(q1), 0, sin(q1), 0]
[sin(q1), 0, -cos(q1), 0]
[ 0, 1, 0, d1]
[ 0, 0, 0, 1]
b =
c =
d =
[cos(q4), 0, sin(q4), 0]
[sin(q4), 0, -cos(q4), 0]
[ 0, 1, 0, d4]
[ 0, 0, 0, 1]
e =
[cos(q5), 0, -sin(q5), 0]
[sin(q5), 0, cos(q5), 0]
[ 0, -1, 0, 0]
[ 0, 0, 0, 1]
f =
[cos(q6), -sin(q6), 0, 0]
[sin(q6), cos(q6), 0, 0]
[ 0, 0, 1, d6]
[ 0, 0, 0, 1]
ans =
MATLAB Command Window Page 2
>>
EJERCICIO 3
Eslabón θi di ai αi
1 q1 0 P0-Ps 90°
2 q2 P1-P0 0 0°
3 q3 0 0 90°
4 q4 P4-P2 P4-P2 90°
5 q5 0 0 90°
6 q6 0 0 0°
7 q7 P7-P4 P7-P4 0°
-