how to plot it the rrr manipulator links?

Question

x y 2014-4-1

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/124076-how-to-plot-it-the-rrr-manipulator-links

回答： x y 2014-4-1

http://i.imgur.com/b70b8zc.png I multiplied the declared matrix like this:

T = Rz*transz*Ry*transy*Rx*transx T =

    0.4182    0.8711   -0.2575    1.1692
   -0.4756   -0.0316   -0.8791    0.1847
   -0.7739    0.4901    0.4011    5.2261
         0         0         0    1.0000

The way I figured out is will use this for the x, y ,z point is:

    0.4182    0.8711   -0.2575    
   -0.4756   -0.0316   -0.8791    
   -0.7739    0.4901    0.4011

and for

1692
1847
2261     will for  end of the manipulator hand (link)

I doesnt know I make good ...but this is I tried.:

point1.x = T(1);point1.y = T(5);point1.z = T(9); point2.x = T(2);point2.y = T(6);point2.z = T(10); point3.x = T(3);point3.y = T(7);point3.z = T(11); point4.x = T(13);point4.y = T(14);point4.z = T(15);

l= line([point1.x, point2.x][point1.y,point2.y[point1.z,point2.z],'Color','r','LineWidth',4); l1 = line([point2.x,point3.x[point2.y,point3.y[point2.z,point3.z],'Color','b','LineWidth',4); l2 = line([point3.x,point4.x[point3.y,point4.y[point3.z,point4.z],'Color','g','LineWidth',4);

I get it this (a =b = c == 5 for lenght each link) </matlabcentral/answers/uploaded_files/10764/Capture.JPG>