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j αj dj θj rj
1 0° 0 θ1=0° 0
2 90° d2 θ2=90° 0
3 0° d3 θ3 0
4 90° d4 θ4 r4
5 -90° 0 θ5 0
6 90° 0 θ6 0
Procedemos a realizar las Matrices de Transformación Homogénea para cada
PDHMod.
𝐶𝑜𝑠(𝜃𝑗) −𝑆𝑒𝑛(𝜃𝑗) 0 𝑑𝑗
𝑗−1 𝐶𝑜𝑠(𝛼𝑗)𝑆𝑒𝑛(𝜃𝑗) 𝐶𝑜𝑠(𝛼𝑗)𝐶𝑜𝑠(𝜃𝑗) −𝑆𝑒𝑛(𝛼𝑗) −𝑟𝑗𝑆𝑒𝑛(𝛼𝑗)
𝑗𝑇 =[ ]
𝑆𝑒𝑛(𝛼𝑗)𝑆𝑒𝑛(𝜃𝑗) 𝑆𝑒𝑛(𝛼𝑗)𝐶𝑜𝑠(𝜃𝑗) 𝐶𝑜𝑠(𝛼𝑗) 𝑟𝑗𝐶𝑜𝑠(𝛼𝑗)
0 0 0 1
syms t1 t2 t3 t4 t5 t6 d2 d3 d4 r4
T06=simplify(T01*T12*T23*T34*T45*T56);
T21=inv(T12);
T26=T23*T34*T45*T56;
U2=simplify(T21*U1);
%de (2,4)
a2=(-2*d3*(px*cos(t1) - d2 + py*sin(t1)));
b2=(-2*d3*pz);
ce2=r4^2-( d3^2 + pz^2 + (px*cos(t1) - d2 + py*sin(t1))^2);
syms eps2
s2=simplify((b2*ce2+eps2*a2*sqrt((a2^2)+(b2^2)-(ce2^2)))/((a2^2)+(b2^2)));
c2=simplify((a2*ce2-eps2*b2*sqrt((a2^2)+(b2^2)-(ce2^2)))/((a2^2)+(b2^2)));
tange2=simplify((s2/c2));
%t2a=ATAN2(eps2*s2,eps2*c2);
T43=inv(T34);
T46=T45*T56;
U4=simplify(T43*U3);
%usando los elementos (1,4) (U4(1,4)=T46(1,4))
eqn4=collect(collect(U4(1,4),sin(t4)),cos(t4));
Posx=simplify(T06(1,4));
J(1,1)=diff(Posx,t1);
J(1,2)=diff(Posx,t2);
J(1,3)=diff(Posx,t3);
J(1,4)=diff(Posx,t4);
J(1,5)=diff(Posx,t5);
J(1,6)=diff(Posx,t6);
%Donde Xp=J(1,:)*(t1p:t6p)
Posy=simplify(T06(2,4));
J(2,1)=diff(Posy,t1);
J(2,2)=diff(Posy,t2);
J(2,3)=diff(Posy,t3);
J(2,4)=diff(Posy,t4);
J(2,5)=diff(Posy,t5);
J(2,6)=diff(Posy,t6);
%Iteracion 5
U5=simplify(T56*T45*T34*T23*T12*T01*U0);