My dissertation supervisor ask me to code this.
r1=.3; r2=.5; xh=[0.00001:.01:.21]; yh=3.2*xh-0.8; A=2*r2*xh; B=2*r2*yh; R=sqrt(A.^2+B.^2); C=xh.^2+yh.^2+r2^2-r1^2; z=C./R; zz=sqrt(1-z.^2); theta2=atan2(B,A)+atan2(zz,z); theta1=atan2((yh-r2*sin(theta2)),(xh-r2*cos(theta2))); plot(xh,180*theta2/pi) hold on plot(xh,180*theta1/pi,'r') axis([0 .2 -170 0]) xlabel('xh [m]') ylabel('\theta [degree]') legend('\theta_2','\theta_1') title 'The change in angles between the elbow and shoulder while lifting a heavy Load' grid
I understand it but now he has ask me to..
" Please do the links velocities and send me the results, please plot velocity of the links against
yh, limit the axis of
yh to be ‘
axis([-.76 -.16 -15 5])’"
I know that length of
r2 multiplied by
theta2 should give arc length. Then arc length divided by a time interval will give rad/sec
which i can plot against yh...........I dont know what this
axis([-.76 -.16 -15 5])’ means...... BUT I AM VERY NEW TO MATLAB HELP PLEASE.