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Tabla de parametro DH
% Eslabon Theta(i) di ai alpha(i)
% 1 q1 l1 0 0
% 2 0 q2 0 90
% 3 0 q3 0 0
Mtrices homogeneas
A01 =
1
A12 = [1 0 0 0;...
0 0 -1 0;...
0 1 0 q2;...
0 0 0 1]
A12 =
A23 = [1 0 0 0;...
0 1 0 0;...
0 0 1 q3;...
0 0 0 1]
A23 =
R01 = A01(1:3,1:3)
R01 =
R12 = A12(1:3,1:3)
R12 =
R23 = A23(1:3,1:3)
R23 =
2
Matriz de rotacion inversa
R10 =transpose(R01)
R10 =
R21 =transpose(R12)
R21 =
R32 =transpose(R23)
R32 =
condiciones iniciales
v00=[0;0;0]
v00 = 3×1
0
0
0
dv00=[0;0;0]
dv00 = 3×1
0
0
0
w00=[0;0;0]
w00 = 3×1
0
0
0
dw00=[0;0;0]
dw00 = 3×1
3
0
0
0
z00=[0;0;1]
z00 = 3×1
0
0
1
z11=[0;0;1]
z11 = 3×1
0
0
1
z22=[0;0;1]
z22 = 3×1
0
0
1
w11=R10*(w00+z00*dq1)
w11 =
w22=R21*w11
w22 =
4
para el eslabon 3 articulacion prismatica i =3
w33=R32*w22
w33 =
dw11=R10*(dw00+z00*d2q1 + cross(w00,(z00*dq1)))
dw11 =
dw22=R21*dw11
dw22 =
dw33=R32*dw22
dw33 =
5
r11=[0;0;l1]
r11 =
r22=[0;q2;0]
r22 =
r33=[0;0;q3]
r33 =
v11=R01*v00 + cross(w11,(r11))
v11 =
v22= R21*(v11+z11*dq2)+cross(w22,(r22))
6
v22 =
v33= R32*(v22+z22*dq2)+cross(w33,(r33))
v33 =