Here are the general steps involved in visualizing a delta robot workspace using MATLAB:
- Define the Workspace Boundaries: Set the range of desired positions (x, y, and z) that the end effector of your robot should reach within the workspace.
- Sample the Workspace: Iterate through the defined positions in steps that are small enough to capture the detail of your workspace.
- Use Forward Kinematics: For each sampled position, use your forward kinematics code to calculate the corresponding joint angles required to reach that position.
- Filter Out Inaccessible Points: Some calculated joint angle combinations may not be reachable by the robot due to its physical limitations.
- Plot the Workspace: Use the collection of reachable positions (x, y, z) to create a 3D plot of the workspace.
There are several ways to visualize the workspace in MATLAB, including scatter plots, mesh plots, or isosurface plots. The best method will depend on the specific information you want to convey.
You can look into this link to explore the various ways of creating 3D plots: https://www.mathworks.com/help/matlab/visualize/creating-3-d-plots.html
