from Kinematics by edward mebarak
Analyzes the kinematics of a 3-DOF robot.

[q]=find(w1)
function [q]=find(w1)
q=21325*w1;
%I12=10*phi1;
%I21=I12;
%I22=15*phi2;
%---------------------------
%I=[I11 I12;I21 I22]
%---------------------------
%b=[10*phi1*w1;20*phi1*w2]

%I_star=I*b

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