×
INTELLIGENT WORK FORUMS
FOR ENGINEERING PROFESSIONALS

Log In

Come Join Us!

Are you an
Engineering professional?
Join Eng-Tips Forums!
  • Talk With Other Members
  • Be Notified Of Responses
    To Your Posts
  • Keyword Search
  • One-Click Access To Your
    Favorite Forums
  • Automated Signatures
    On Your Posts
  • Best Of All, It's Free!
  • Students Click Here

*Eng-Tips's functionality depends on members receiving e-mail. By joining you are opting in to receive e-mail.

Posting Guidelines

Promoting, selling, recruiting, coursework and thesis posting is forbidden.

Students Click Here

Jobs

Need help! Plotting a 3d model of a robot arm workspace!

Need help! Plotting a 3d model of a robot arm workspace!

Need help! Plotting a 3d model of a robot arm workspace!

(OP)
I trying to model the 3d workspace of the robot arm. Below is the matlab syntax. Px,Py,Pz is the goal position. q1,q2,q3 is joint angle limits. a1,a2,a3,d1 and d4 is link parameter.

a1=150;
a2=600;
a3=100;
d1=400;
d4=600;
q1=linspace(-170,170);
q2=linspace(-90,155);
q3=linspace(-170,190);
Px=(a1.*(cosd(q1)))+(a2.*((cosd(q1).*cosd(q2))-(sind(q1).*sind(q2))))+(a3.*((cosd(q1).*cosd(q2))-(sind(q1).*sind(q2))).*(cosd(q3)))+(d4.*(cosd(q1)).*((sind(q2).*cosd(q3))+(cosd(q2).*sind(q3))));
Py=(a1.*(sind(q1)))+(a2.*(sind(q1)).*(cosd(q2)))+(a3.*(sind(q1)).*((cosd(q2).*cosd(q3))-(sind(q2).*sind(q3))))+(d4.*(sind(q3)).*((sind(q1).*cosd(q2))+(cosd(q1).*sind(q2))));
Pz=(a2.*(sind(q2)))+(a3.*((sind(q2).*cosd(q3))+(cosd(q2).*sind(q3))))-(d4.*((cosd(q2).*cosd(q3))-(sind(q2).*sind(q3))))+d1;

Can anyone pls show me how to plot the Px,Py,Pz graph?
Thanks

RE: Need help! Plotting a 3d model of a robot arm workspace!



You need to add bones and flesh to the 3d points that you have created. That is amazingly tiresome to do properly, you will need to add orientation points to each rigid body.

Then you could create a subroutine that can work out the screen coordinates of a given 3d location.

You will need to use similar triangles if you do it the way I did it.

Cheers

Greg Locock

Please see FAQ731-376 for tips on how to make the best use of Eng-Tips.

RE: Need help! Plotting a 3d model of a robot arm workspace!

(OP)
Thanks for the tips! Do you have any example file of it?

RE: Need help! Plotting a 3d model of a robot arm workspace!

No, I did it in Excel.

Cheers

Greg Locock

Please see FAQ731-376 for tips on how to make the best use of Eng-Tips.

Red Flag This Post

Please let us know here why this post is inappropriate. Reasons such as off-topic, duplicates, flames, illegal, vulgar, or students posting their homework.

Red Flag Submitted

Thank you for helping keep Eng-Tips Forums free from inappropriate posts.
The Eng-Tips staff will check this out and take appropriate action.

Reply To This Thread

Posting in the Eng-Tips forums is a member-only feature.

Click Here to join Eng-Tips and talk with other members!


Resources