Speeding up robot workspace, 3 nested for loops

karim aboudoh

2017 12 14

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I am trying to create the workspace (overall reachability of the end effector of a 3DOF robot) but the task is taking a very long time, any idea on how to speed up this code ?

L(1) = Link([0 84.5 40 (pi/2)]);
L(2) = Link([0 0 200.43 0]);
L(3) = Link([0 215.02 28.5 0]);
Uarm = SerialLink(L);
for i=0:(5*pi/180):(180*pi/180)
        for j=0:(5*pi/180):(180*pi/180)
            for k=0:(5*pi/180):(180*pi/180)
                Uarm.fkine([i j k]);
                tranimate(Uarm.fkine([i j k]));
                Uarm.plot([i j k])
                hold on
              end
          end
  end