Codigo De Matlab Para Un Brazo Robotico

CODIGO DE BRAZO ROBOTICO

ax = axes('XLim',[-200 500],'YLim',[-200 200],'ZLim',[-10 500]);

view(3); grid on; axis equal

t(1)=hgtransform('Parent',ax);

t(2)=hgtransform('parent',t(1));

t(3)=hgtransform('parent',t(2));

t(4)=hgtransform('parent',t(3));

t(5)=hgtransform('parent',t(4));

t(6)=hgtransform('parent',t(5));

t(7)=hgtransform('parent',t(6));

[ V,C ] = cualquierprisma( 100,4,80 );

patch('vertices',V,'faces',C,'FaceColor',[.3 .8 .5],'Parent',t(1));

T = makehgtform ('translate',[0,0,0]);

set(t(1),'matrix',T);

[ V,C ] = cualquierprisma( 30,50,10 );

patch('vertices',V,'faces',C,'FaceColor',[.2 .8 .9],'Parent',t(2));

T1 = makehgtform ('translate',[0,0,80]);

set(t(2),'matrix',T1);

[ V,C ] = cualquierprisma( 15,4,300 );

patch('vertices',V,'faces',C,'FaceColor',[.4 .4 .1],'Parent',t(3));

T2 = makehgtform ('translate',[0,0,10]);

set(t(3),'matrix',T2);

G=1/4*pi;

E=makehgtform('zrotate',G);

set(t(5),'matrix',T4*E);

[ V,C ] = cualquierprisma( 20,50,30 );

patch('vertices',V,'faces',C,'FaceColor',[.5 .6 .1],'Parent',t(4));

T3 = makehgtform ('translate',[0,15,300]);

set(t(4),'matrix',T3);

G=1/2*pi;

E=makehgtform('xrotate',G);

set(t(4),'matrix',T3*E);

[ V,C ] = cualquierprisma( 15,4,200 );

patch('vertices',V,'faces',C,'FaceColor',[.5 .6 .1],'Parent',t(5));

T4 = makehgtform ('translate',[0,0,15]);

set(t(5),'matrix',T4);

G=1/2*pi;

E=makehgtform('yrotate',G);

set(t(5),'matrix',T4*E);

[ V,C ] = cualquierprisma( 15,4,100 );

patch('vertices',V,'faces',C,'FaceColor',[.5 .6 .1],'Parent',t(6));

T5 = makehgtform ('translate',[0,0,185]);

set(t(6),'matrix',T5);

G=1/2*pi;

E=makehgtform('xrotate',G);

set(t(6),'matrix',T5*E);

for r = 1:.006:(2*pi)*5

Rz = makehgtform('zrotate',r);

%Rx = makehgtform('xrotate',r);

set(t(2),'Matrix',T*T1*Rz)

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