This is the code "
a = arduino('COM4')
clear a;
% Robot parameters (lengths of links)
L1 = 1;
L2 = 1;
L3 = 1;
L4 = 1;
L5 = 1;
% Desired end-effector position for going up and down
desired_height = 2;
% Calculate inverse kinematics for the desired position
[theta1, theta2, theta3, theta4, theta5] = inverseKinematics(desired_height, L1, L2, L3, L4, L5);
% Display the joint angles
disp('Joint Angles:');
disp(['Theta1: ', num2str(90), ' radians']);
disp(['Theta2: ', num2str(80), ' radians']);
disp(['Theta3: ', num2str(45), ' radians']);
disp(['Theta4: ', num2str(60), ' radians']);
disp(['Theta5: ', num2str(20), ' radians']);
% Move the robotic arm to the desired position (you need to implement this part)
% MoveRobotToPosition(theta1, theta2, theta3, theta4, theta5);
% Display a message indicating that the arm has moved
disp('Robotic arm moved to the desired position.');
% Function to calculate inverse kinematics
function [theta1, theta2, theta3, theta4, theta5] = inverseKinematics(desired_height, L1, L2, L3, L4, L5)
% Assume a simple planar robotic arm for illustration purposes
% You need to replace this with the actual inverse kinematics solution
% Calculate joint angles using trigonometry
theta1 = atan2(desired_height, L1);
theta2 = acos((L2^2 + L3^2 - L4^2 - L5^2) / (2 * L2 * L3));
theta3 = -theta2; % Adjust based on your arm's kinematics
theta4 = pi - atan2(desired_height, L1); % Adjust based on your arm's kinematics
theta5 = 0; % Adjust based on your arm's kinematics
end
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