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Input-Output Linearization of planar 3-link manipulator

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Control of 3-link manipulator

trajectory.m
figure(1)
subplot(3,1,1)
hold on;
plot(tout,trajx(:,2),'r-');
plot(tout,trajx(:,3),'b-.');
grid on
legend('Desired trajectory','Actual trajectory')
ylabel('x');
title('Trajectory');
subplot(3,1,2)
hold on;
plot(tout,trajz(:,2),'r-');
plot(tout,trajz(:,3),'b-.');
grid on
ylabel('E_z');
subplot(3,1,3)
hold on;
plot(tout,trazphi(:,2)*180/pi,'r-');
plot(tout,trazphi(:,3)*180/pi,'b-.');
grid on
ylabel('E_{phi} (in degrees)');
xlabel('Time (in secs)')

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