Task:01

clear all
clc
a=[14 15 19 15 10]; %LINK
LENGTHS
al=[-pi/2 0 0 -pi/2 0]; %LINK TWIST
d=[12 0 0 0 8]; %OFFSET
s=[0 -pi/4 pi/3 pi/2.5 pi/3]; %JOINT
ANGLES
c1=[cos(s(1)) cos(s(2)) cos(s(3))
cos(s(4)) cos(s(5))];
s1=[sin(s(1)) sin(s(2)) sin(s(3))
sin(s(4)) sin(s(5))];

c2=[cos(al(1)) cos(al(2)) cos(al(3))

cos(al(4)) cos(al(5))];
s2=[sin(al(1)) sin(al(2)) sin(al(3))
sin(al(4)) sin(al(5))];

T1=[c1(1) -s1(1)*c2(1) s1(1)*s2(1)

al(1)*c1(1);
s1(1) c1(1) -c1(1)*s2(1) al(1)*s1(1);
0 s2(1) c2(1) d(1);
0 0 0 1];
T2=[c1(2) -s1(2)*c2(2) s1(2)*s2(2)
al(2)*c1(2);
s1(2) c1(2) -c1(2)*s2(2) al(2)*s1(2);
0 s2(2) c2(2) d(2);
0 0 0 1];
T3=[c1(3) -s1(3)*c2(3) s1(3)*s2(3)
al(3)*c1(3);
s1(3) c1(3) -c1(3)*s2(3) al(3)*s1(3);
0 s2(3) c2(3) d(3);
0 0 0 1];
T4=[c1(4) -s1(4)*c2(4) s1(4)*s2(4)
al(4)*c1(4);
s1(4) c1(4) -c1(4)*s2(4) al(4)*s1(4);
0 s2(4) c2(4) d(4);
0 0 0 1];
T5=[c1(5) -s1(5)*c2(5) s1(5)*s2(5)
al(5)*c1(5);
s1(5) c1(5) -c1(5)*s2(5) al(5)*s1(5);
0 s2(5) c2(5) d(5);
0 0 0 1];
T=T1*T2*T3*T4*T5
L(1) = Link([s(1) d(1) a(1) al(1)]);
L(2)=Link([s(2) d(2) a(2) al(2)]);
L(3)=Link([s(3) d(3) a(3) al(3)]);
L(4)=Link([s(4) d(4) a(4) al(4)]);
L(5)=Link([s(5) d(5) a(5) al(5)]);

SCORBOT=SerialLink(L);
Tn=fkine(SCORBOT, [s(1), s(2), s(3),
s(4), s(5)])
SCORBOT.plot([s(1), s(2), s(3), s(4),
s(5)])
title('190998')
Task:02

LINK Length Link Twist OFFSET JOINT ANGLE

5 -90 D1= 10 0
5 0 0 -Pi/4=45
15 0 0 pi/3
12 90 0 Pi/2.5
5 0 D5 = 7 0
Assuming the remaining link lengths to 5,10 and 5.
clear all
clc
a=[5 15 12 5 5]; %LINK LENGTHS
al=[-pi/2 0 0 -pi/2 0]; %LINK TWIST
d=[10 0 0 0 7]; %OFFSET
s=[0 -pi/4 pi/3 pi/2.5 pi/3]; %JOINT
ANGLES
c1=[cos(s(1)) cos(s(2)) cos(s(3)) cos(s(4))
cos(s(5))];
s1=[sin(s(1)) sin(s(2)) sin(s(3)) sin(s(4))
sin(s(5))];

c2=[cos(al(1)) cos(al(2)) cos(al(3))

cos(al(4)) cos(al(5))];
s2=[sin(al(1)) sin(al(2)) sin(al(3))
sin(al(4)) sin(al(5))];

T1=[c1(1) -s1(1)*c2(1) s1(1)*s2(1)

al(1)*c1(1);
s1(1) c1(1) -c1(1)*s2(1) al(1)*s1(1);
0 s2(1) c2(1) d(1);
0 0 0 1];
T2=[c1(2) -s1(2)*c2(2) s1(2)*s2(2) Figure 1
al(2)*c1(2);
 s1(2) c1(2) -c1(2)*s2(2) al(2)*s1(2);
0 s2(2) c2(2) d(2);
0 0 0 1];
T3=[c1(3) -s1(3)*c2(3) s1(3)*s2(3)
al(3)*c1(3);
s1(3) c1(3) -c1(3)*s2(3) al(3)*s1(3);
0 s2(3) c2(3) d(3);
0 0 0 1];
Figure 2
T4=[c1(4) -s1(4)*c2(4) s1(4)*s2(4)
al(4)*c1(4);
s1(4) c1(4) -c1(4)*s2(4) al(4)*s1(4);
0 s2(4) c2(4) d(4);
0 0 0 1];
T5=[c1(5) -s1(5)*c2(5) s1(5)*s2(5)
al(5)*c1(5);
s1(5) c1(5) -c1(5)*s2(5) al(5)*s1(5);
0 s2(5) c2(5) d(5);
0 0 0 1];
T=T1*T2*T3*T4*T5
L(1) = Link([s(1) d(1) a(1) al(1)]);
L(2)=Link([s(2) d(2) a(2) al(2)]);
L(3)=Link([s(3) d(3) a(3) al(3)]);
L(4)=Link([s(4) d(4) a(4) al(4)]);
L(5)=Link([s(5) d(5) a(5) al(5)]);

SCORBOT=SerialLink(L);
Tn=fkine(SCORBOT, [s(1), s(2), s(3), s(4),
s(5)])
SCORBOT.plot([s(1), s(2), s(3), s(4),
s(5)])
title('190998')