How do I show the movement of the end effector in Cartesian space? (2D X-Y Plot)?

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Justin Delmo
Justin Delmo 2020-5-15
Hello everyone,
I'm lost on how I can show the movement of the end effector in Cartesian space. I was told that I would need to calculate the fkine() of s2, v2 and a2 to show the movement of the end effector. How can I do that?
clear all; clc; close all;
syms time
theta_i = 120;
theta_f = 60;
tf = 1;
t = 0:0.1:1;
%The next four lines computes the coefficients of a third order polynomial
a0 = theta_i;
a1 = 0;
a2 = (3/tf^2)*(theta_f-theta_i);
a3 = (-2/tf^3)*(theta_f-theta_i);
s = a0 + a1*time + a2*time.^2 + a3*time.^3; %Computes the position using a third order polynomial
v = diff(s); %Computes velocity by differentiating the position
a = diff(v); %Computes acceleration by differentiating the velocity
j = diff(a); %Computes jerk by differentiating the acceleration
%The next four lines substitutes actual values into the equations developed above
s = eval(subs(s,time,t));
v = eval(subs(v,time,t));
a = eval(subs(a,time,t));
j = eval(subs(j,time,t));
[s2, v2, a2] = jtraj(theta_i,theta_f,t) %uses a quintic polynomial to solve for the position, velocity and acceleration

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