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Highlights from
Kinematic Control of 3PRR - Articulated form of Hexapod

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from Kinematic Control of 3PRR - Articulated form of Hexapod by Hrishi Shah
A Hexapod is modeled as a 3PRR by taking top view projection and controlled Kinematically.

[]=parallelplot1(j_vars, bases, lengths) 
function []=parallelplot1(j_vars, bases, lengths)
axis manual; % manually scale the axes
scope=6; % size of graph
axis([-scope scope -scope scope]);
xy3=zeros(4,2); % end points of the platform
for i=1:3 % for three PRR's
    xy3(i,:)=serialplot(j_vars(1,i*3-2:i*3),bases(i,:),lengths(i,:),i); % plot each serial link
end
xy3(4,:)=xy3(1,:);
plot(xy3(:,1),xy3(:,2),'color','m','linewidth',2); % plot the platform
pause(0.1); % to make animation visible
return

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