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plot(px,py);
hold on; grid on;
clear t;
t=linspace(0,15,length(py)); %% Modifique
cx3 = px - l3.*cos(kappa);
cy3 = py - l3.*sin(kappa);
c = sqrt(cx3.^2 + cy3.^2);
gamma=acos(((l1^2)+(l2^2)-c.^2)./(2*l1*l2));
kappa = atan2(py,px);
% q1d=real(q1d);
% q2d=real(q2d);
% q3d=real(q3d);
% Ajustar los ángulos al rango de -pi a pi
% q1d = mod(q1d + pi, 2*pi) - pi;
% q2d = mod(q2d + pi, 2*pi) - pi;
% q3d = mod(q3d + pi, 2*pi) - pi;
% Convertir a grados
q1=q1d;
q2=q2d;
q3=q3d;
% Cinemática directa
x1 = l1*cos(q1);
y1 = l1*sin(q1);
x2 = x1 + l2*cos(q1 + q2);
y2 = y1 + l2*sin(q1 + q2);
x3 = x2 + l3*cos(q1 + q2 + q3);
y3 = y2 + l3*sin(q1 + q2 + q3);
end