Index exceeds the number of array elements (0).

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Preston Stinnett
Preston Stinnett 2021-12-4
I keep getting the error mentioned above. Index exceeds the number of array elements (0). Error (line 46) T4=RobotConv (0,L(k),0,0);
I have been trying to fix this but cannot get it to work. Does anyone have any tips on this?
clc;
clear all;
display('Joint 1');
display('=======================');
angle1=input('Please key in theta_1 (degree):');
d1=input('Please key in distance_1 (d):');
al1=input('Please key in alpha_1 (degree):');
display('Joint 2');
display('=======================');
angle2=input('Please key in theta_2 (degree):');
d2=input('Please key in distance_2 (d):');
al2=input('Please key in alpha_2 (degree):');
display('Joint 3');
display('=======================');
angle3=input('Please key in theta_3 (degree):');
d3=input('Please key in the minimum distance_3 (d):');
d4=input('Please key in the maximum distance_3 (d):');
al3=input('Please key in alpha_3 (degree):');
display('Joint 4');
display('=======================');
angle4=input('Please key in theta_4 (degree):');
d4=input('Please key in distance_4 (d):');
al4=input('Please key in alpha_4 (degree):');
L1=min(d3);
L2=max(d4);
L3=d4;
theta1=0:angle1/100:angle1;
theta2=0:angle2/100:angle2;
theta3=0:angle3/100:angle3;
L=L2:(L3-L2)/100:L3;
framemax=100;
M=moviein(framemax);
set(gcf,'Position',[100 100 640 480]);
for k=1:framemax
T1=RobotConv(theta1(k), d1, 0, al1);
T2=RobotConv(theta2(k), d2, 0, al2);
T3=RobotConv(theta3(k), d3, 0, al3);
T4=RobotConv(0, L(k), 0, 0);
p0=[0 0 0];
p1=RobotPosition(T1);
p2=RobotPosition(T1*T2);
p3=RobotPosition(T1*T2*T3);
p4=RobotPosition(T1*T2*T3*T4);
figure(1)
X=[p0(1) p1(1) p2(1) p3(1)];
Y=[p0(2) p1(2) p2(2) p3(2)];
Z=[p0(3) p1(3) p2(3) p3(3)];
subplot(221),plot3(X,Y,Z,'o-')
axis([-10 10 -10 10 0 10]);
grid
subplot(222),plot(X,Y,'o-')
axis([-10 10 -10 10]);
title('X-Y')
grid
subplot(223),plot(X,Z,'o-')
axis([-10 10 0 10]);
title('X-Z')
grid
subplot(224),plot(Y,Z,'o-')
axis([-10 10 0 10]);
title('Y-Z')
grid
M(k)=getframe(gcf);
end
function P = RobotPosition(T)
x = T(1,4);
y = T(2,4);
z = T(3,4);
P = [x y z];
end
function T = RobotConv(theta,d,a,alpha)
rad = pi/180;
M_theta = [cos(theta*rad) -sin(theta*rad) 0 0;sin(theta*rad) cos(theta*rad) 0 0;0 0 1 0;0 0 0 1];
M_d = [1 0 0 0;0 1 0 0;0 0 1 d;0 0 0 1];
M_a = [1 0 0 a;0 1 0 0;0 0 1 0;0 0 0 1];
M_alpha = [1 0 0 0;0 cos(alpha*rad) -sin(alpha*rad) 0;0 sin(alpha*rad) cos(alpha*rad) 0; 0 0 0 1];
T=M_theta*M_d*M_a*M_alpha;
end

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