Cabanillas alamo jose

1.
l1=2 ; l2=1;
L1=link([0 0 0 0 0 ],'modified');
L2=link([0 l1 0 0 0 ],'modified');
L3=link([0 l2 0 0 0 ],'modified');
rr=robot({L1 L2 L3});
plot(rr,[0 pi/2 0])

2.
l1=2 ; l2=1; l3=1;
L1=link([0 0 0 0 0 ],'modified');
L2=link([0 l1 0 0 0 ],'modified');
L3=link([0 0 l2 0 0 ],'modified');
L4=link([0 l3 0 0 0 ],'modified');
rr=robot({L1 L2 L3 L4});
drivebot(rr,[0 pi/2 0 0 ])

3.
l1=2 ; l2=1; l3=1;
DHRPR=[0 0 0 0 0 ;
pi/2 0 0 0 1 ;
0 0 0 l2 0;
0 0 0 l3 0 ];
for k=1:size(DHRPR,1)
LRP{k}=link(DHRPR(k,:),'mod');
end
R3=robot(LRP);
R3.name='RPR';
tr=[linspace(0,pi/2,200)'zeros(200,3);
pi/2*ones(100,1)linspace(0,1,100)'zeros(100,2);
linspace(pi/2,3*pi/2,400)'linspace(1,0,400)'zeros(400,2)];
plot(R3,tr);

4.
l1=2 ; l2=1; l3=1;
DHQ=[0.5000 -0.8600 0 0 ;
0.8600 0.5000 0 0 ;
0 0 1.0000 0;
0 0 0 0 ];
for k=1:size(DHQ,1)
LRP{k}=link(DHQ(k,:),'mod');
end
R3=robot(LRP);
R3.name='RPR';
tr=[linspace(0,pi/2,200)'zeros(200,3);
pi/2*ones(100,1)linspace(0,1,100)'zeros(100,2);
linspace(pi/2,3*pi/2,400)'linspace(1,0,400)'zeros(400,2)];
plot(R3,tr);