Where is the mistake? This code doesn't work.

Question

Furkan 2024-1-22

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https://ww2.mathworks.cn/matlabcentral/answers/2072861-where-is-the-mistake-this-code-doesn-t-work

评论： Furkan 2024-1-22

在 MATLAB Online 中打开

clc;

close all;

clear all;

syms x;

% Four Arm Mechanism

%global LAB LBC LDC LEF LEC LAD LAG LGD LAF

LAB=0.09;%m

LBC=0.4;%m

LDC=0.12;%m

LEF=0.21;%m

LEC=0.25;%m

LAD=0.22;%m

LAG=0.35;%m

LGD=0.22;%m

LAF=0.4;%m

Nmax = 100; % max number of iterations

epsk = [1e-6, 1e-6]; % convergence threshold

tet2o = 135 * pi / 180

tet2o = 2.3562

tet3o = 20 * pi / 180; % rad, initial value of theta3

tet4o = 320 * pi / 180; % rad, initial value of theta4

eps = [0, 0]; % error vector

% Pre-allocate arrays

th2 = 0:1:360; N=length(th2);

teta2 = zeros(1, N); % theta2 in radians

teta3 = zeros(1, N); % theta3 in radians

teta4 = zeros(1, N); % theta4 in radians

teta5 = zeros(1, N);

tet3 = zeros(1, N); % theta3 in degrees

tet4 = zeros(1, N); % theta4 in degrees

%% wbar = waitbar(0, 'Iteration Processing....'); % progress bar

k = 0; % iteration counter

% Loop through values of theta2

for tet2 = 0:1:360

k = k + 1;

tet2 = pi * tet2 / 180; % Convert to radians

teta2(k) = tet2;

tet1o = pi *60 / 180; % Convert to radians

tet3o = 20 * pi / 180; % Reset initial value of tet3o

tet4o = 320 * pi / 180; % Reset initial value of tet4o

tet5o = 30 * pi / 180;

% Loop through iterations

for iter = 1:Nmax

% Update theta3 and theta4

tet3o = tet3o + eps(1);

tet4o = tet4o + eps(2);

% Define function and Jacobian

f = [(LDC * sin(teta3(k)) + LEF * sin(tet5o) -LEC * sin(teta4(k))); (LDC * cos(teta3(k)) + LEF * cos(tet5o) -LEC * cos(tet4o))];

J = [-LEF * cos(tet5o), -LEC * cos(tet4o);-LEF * sin(tet5o), LEC * sin(tet4o)];

% Compute error and check for convergence

eps = inv(J)*f;

if abs(eps(1)) <= epsk(1) && abs(eps(2)) <= epsk(2)

kiter = iter; % number of iterations to converge

tet3(k) = tet3o * 180 / pi; % deg

teta1(k) = tet1o

teta3(k) = tet3o; % rad

teta4(k) = tet4o; % rad

tet4(k) = teta4(k) * 180 / pi; % deg

break;

end

%% close(wbar);

fid = fopen('reportfourarm.m', 'w');

fprintf(fid, 'teta2(i) teta3(i) teta4(i)\n');

for i = 1:N

fprintf(fid, '%1.2f %6.1f %6.1f\n', i-1, tet3(i), tet4(i));

end

fclose(fid);

%% kon=input(' Analysis Results: Report | <enter>\n');

%% if kon==0

%% end

t=0:1:N-1;

tet4 = 0:1:360;

tet5 = 0:1:360;

360;

% Plot the trajectory of theta_3 and theta_4

plot(t, tet4, 'r-', t, tet4, 'b-', t, tet3, 'g-');

xlabel('Theta (rad)');

ylabel('Theta (deg)');

legend('Theta_3', 'Theta_4', 'Theta_5');

title('Trajectory of Theta_4, Theta_5,');

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Furkan 2024-1-22

I want to find a graph with theta3 in the x plane and theta4 and theta5 in the y plane, how can I find it?

Furkan 2024-1-22

also thank you

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Where is the mistake? This code doesn't work.

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Where is the mistake? This code doesn't work.

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