Hi communinty,
I am trying to plot the manipulability index of my robotic arm. Here is the code:
clc; clear all;close all;
syms d1 th1 th2 th3 th4 th5 a2 a3 d5
a2 = 20;
a3 = 25;
d1 = 104;
d5 = 102;
px =(cos(th1)*(a2*cos(th2)+a3*cos(th2+th3)+d5*cos(th2+th3+th4)));
py = (sin(th1)*(a2*cos(th2)+a3*cos(th2+th3)+d5*cos(th2+th3+th4)));
pz = d1-a2*sin(th2)-a3*sin(th2+th3)-d5*sin(th2+th3+th4);
% Matlab function for Jacobian Calculation
J = jacobian([px; py; pz], [th1; th2; th3; th4; th5])
J1=J';
J2=J*J1
% discretization of joint angles (in rads)
delta=5; th1=[-pi:delta:pi]; th2=[-pi:delta:pi]; th3=[-pi:delta:pi]; th4=[-pi:delta:pi];th5=[-pi:delta:pi];
for i =1:length(th1), for j=1:length(th2), for k=1:length(th3), for m=1:length(th4), for n=1:length(th5),
H(i,j,k,m,n)=sqrt(det (J2));
end; end; end; end; end;
[X,Y]=meshgrid(px,py);
mesh(X,Y,H);
title('Manipulability index H of planar 3R robot');
xlabel('px');ylabel('py');zlabel('sqrt (det J*JT)');
The error I am getting is:
Error using mesh (line 71)
Data dimensions must agree.
Error in TwoDOFFKVisualisation (line 27)
mesh(X,Y,H);
Any idea how to correct this? or any alternate idea that you can suggest?
Thanks for help in advance.
