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vf =[];
af =[];
vf (1 ,:) = diff (qf (: ,1) ')./ diff (t);
vf (2 ,:) = diff (qf (: ,2) ')./ diff (t);
vf (3 ,:) = diff (qf (: ,3) ')./ diff (t);
vf (4 ,:) = diff (qf (: ,4) ')./ diff (t);
af (1 ,:) = diff (vf (1 ,:))./ diff (t (2: end ));
af (2 ,:) = diff (vf (2 ,:))./ diff (t (2: end ));
af (3 ,:) = diff (vf (3 ,:))./ diff (t (2: end ));
af (4 ,:) = diff (vf (4 ,:))./ diff (t (2: end ));
fig = figure ()
set (fig ,'Position ' ,[100 100 1000 300]) ;
subplot (1 ,4 ,1)
plot (t,qf (: ,1) ','blue ')
5
hold on
plot (t,qf (: ,2) ','red ')
plot (t,qf (: ,3) ','green ')
plot (t,qf (: ,4) ','black ')
hold off
title ('Posiciones articulares ');
grid on;
subplot (1 ,4 ,2)
plot (t (2: end ),vf (1 ,:) ,'blue ')
hold on
plot (t (2: end ),vf (2 ,:) ,'red ')
plot (t (2: end ),vf (3 ,:) ,'green ')
plot (t (2: end ),vf (4 ,:) ,'black ')
hold off
title (' Velocidades articulares ')
grid on;
subplot (1 ,4 ,3)
plot (t (3: end ),af (1 ,:) ,'blue ')
hold on
plot (t (3: end ),af (2 ,:) ,'red ')
plot (t (3: end ),af (3 ,:) ,'green ')
plot (t (3: end ),af (4 ,:) ,'black ')
hold off
legend ('q1 ','q2 ','q3 ','q4 ','q5 ','q6 ','Location ',' SouthOutside ')
title (' Aceleraciones articulares ')
grid on;
subplot (1 ,4 ,4)
for i =1: length (t)
INTRODUCCION
Este documento tiene como objetivo describir el funcionamiento del
robot industrial as como su estructura y diseo, adems de un cdigo
en Matlab que sirve para determinar el movimiento en una articulacin
del mismo.
CONCLUSIN
El robot industrial tiene como objetivo facilitar las labores industriales
donde el ser humano es incapaz de realizarlas o son de mayor riego y
con mayor grado de dificultad adems de agilizar la produccin, un robot
industrial es un manipulador multifuncional reprogramable, capaz de
mover materias, piezas, herramientas, o dispositivos especiales, segn
trayectorias variables, programadas para realizar tareas diversas.