Differences

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--- ece4560:maniplots [2015/02/25 21:36] – pvela
+++ ece4560:maniplots [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 15: / Line 15: @@
 planarRX_display(alphaJoints, linkLens, gripLen);
 </code>
-although the second and third arguments are optional.  The revolute joint variables are given in radians. For each of them, it is possible to give X+1 joint coordinates; the additional joint value is a length  that specifies the gripper opening width (it defaults to some half-open state if not passed).  Suppose that you had run ''ode45'' or some other numerical integrator in Matlab and want to visualize the resulting simulation, then the following should work:
+although the second and third arguments are optional.  The revolute joint variables are given in radians. For each of them, it is possible to give X+1 joint coordinates; the additional joint value is a length  that specifies the gripper opening width (it defaults to some half-open state if not passed). An example invocation for the ``planarR2_display`` function is
+<code matlab>
+planarR2_display([pi/4; pi/8]);
+</code>
+Note that the argument is a vertical/column vector.  It will not work otherwise.  The optional arguments can be either row- or column- vectors:
+<code matlab>
+planarR2_display([pi/4; pi/8], [3/4, 3/4]);
+</code>
+or
+<code matlab>
+planarR2_display([pi/4; pi/8], [3/4; 3/4], 1/6);
+</code>
+Suppose that you had run ''ode45'' or some other numerical integrator in Matlab and want to visualize the resulting simulation, then the following should work:
 <code matlab>
 nframes = 100;
 tvect = linspace(ti,tf,nframes);
 for tT = tvect
-  alphaT = interp1(tsol, alphasol, tT);
+  alphaT = transpose(interp1(tsol, alphasol, tT));
   planarRX_display(alphaT, ll, gl);
 end
@@ Line 65: / Line 77: @@
 The 6R elbow manipulator (6R means 6 revolute joints) is a kinematically sufficient manipulator for SE(3).
-The slightly more fully functional manipulator to be used in the course is called the **Lynx 6** manipulator made by [[http://www.lynxmotion.com | Lynxmotion]].
+It is one of the most common designs found in industry (at least when working with kinematically sufficient manipulators).
 <code matlab>
@@ Line 75: / Line 87: @@
 ---------
 ;#;
-[[: | Main ]]
+[[ECE4560:start | ECE4560]] -- [[: | Main ]]
 ;#;