q0=[0 0 0 0 0 0 0];
q1b=[3*pi .1745 pi/3 pi/2 .5236 pi/1.5 0];
q1=[.0873 .1745 .3491 .1745 .5236 .8727 0];
q2=[.0873 0 -.3491 .2618 .8727 1.2217 0];
q3=[-.1745 -.3491 .5236 .0873 -.1222 .3491 0];
q4=[.1745 .1745 0 -.1396 .3191 -.5236 0];
q5=[-.3491 -.3491 -.3491 0 -.0873 0 0];
% Iniciar Rbt
L1=Link([0 12.4 0 pi/2 0 -pi/2]);
L2=Link([0 0 0 -pi/2 ]);
L3=Link([0 15.43 0 pi/2 ]);
L4=Link([0 0 0 -pi/2 0 0]);
L5=Link([0 15.925 0 pi/2]);
L6=Link([0 0 0 -pi/2 ]);
L7=Link([0 15.0 0 0 0 pi/2]);
LinkMat=[0 12.4 0 pi/2 0 -pi/2;
0 0 0 -pi/2 0 0;
0 15.43 0 pi/2 0 0;
0 0 0 -pi/2 0 0;
0 15.925 0 pi/2 0 0;
0 0 0 -pi/2 0 0;
0 15 0 0 0 pi/2];
Rbt=SerialLink([L1 L2 L3 L4 L5 L6 L7],'name','manufacture');
Rbt2=SerialLink([L1 L2 L3 L4 L5]);
Rbt3=SerialLink(LinkMat);
t=0:.03:2;%Time vector & steps
traj1=jtraj(q0,q1,t);
traj2=jtraj(q1,q2,t);
traj3=jtraj(q2,q3,t);
traj4=jtraj(q3,q4,t);
traj5=jtraj(q4,q5,t);
traj6=jtraj(q5,q0,t);
qsq1=[0.46088 0.37699 0 1.31 0 1.4451 0];
qsq2=[.81681 0.56549 0 1.0681 0 1.2566 0 ];
qsq3=[2.36 0.69115 0 0.848 0 1.4451 0 ];
qsq4=[2.66 0.37699 0 1.31 0 1.4451 0];
qsq5=[pi/2 0.62831 0 1.5708 0 0.94249 0];
qsq6=[0 0.62831 0 1.5708 0 0.94249 0];
t=0:.04:2;
sqtraj1=jtraj(q0,qsq1,t);
sqtraj2=jtraj(qsq1,qsq2,t);
sqtraj3=jtraj(qsq2,qsq3,t);
sqtraj4=jtraj(qsq3,qsq4,t);
sqtraj5=jtraj(qsq4,qsq1,t);
sqtraj6=jtraj(qsq1,q0,t);
sqtraj7=jtraj(qsq6,q0,t);
hold on
atj=zeros(4,4);
view(-35,40)
xlim([-40,40])
ylim([-40,40])
zlim([0,60])
for i=1:1:51
atj=Rbt.fkine(sqtraj1(i,:));
jta=transpose(atj);
JTA(i,:)=jta(4,1:3);
jta=JTA;
plot2(jta(i,:),'r.')
Rbt.plot(sqtraj1(i,:))
plot2(JTA,'b')
end
% for i=1:1:51
% atj2=Rbt.fkine(sqtraj2(i,:));
% jta2=transpose(atj2);
% JTA2(i,:)=jta2(4,1:3);
% jta2=JTA2;
% plot2(jta2(i,:),'r.')
% Rbt.plot(sqtraj2(i,:))
% plot2(JTA2,'b')
% end
% for i=1:1:51
% atj3=Rbt.fkine(sqtraj3(i,:));
% jta3=transpose(atj3);
%
% JTA3(i,:)=jta3(4,1:3);
% jta3=JTA3;
% plot2(jta3(i,:),'r.')
% Rbt.plot(sqtraj3(i,:))
% plot2(JTA3,'b')
% end
% for i=1:1:51
% atj4=Rbt.fkine(sqtraj4(i,:));
% jta4=transpose(atj4);
% JTA4(i,:)=jta4(4,1:3);
% jta4=JTA4;
% plot2(jta4(i,:),'r.')
% Rbt.plot(sqtraj4(i,:))
% plot2(JTA4,'b')
% end
% for i=1:1:51
% atj5=Rbt.fkine(sqtraj5(i,:));
% jta5=transpose(atj5);
% JTA5(i,:)=jta5(4,1:3);
% jta5=JTA5;
% plot2(jta5(i,:),'r.')
% Rbt.plot(sqtraj5(i,:))
% plot2(JTA5,'b')
% end
% for i=1:1:51
% atj6=Rbt.fkine(sqtraj6(i,:));
% jta6=transpose(atj6);
% JTA6(i,:)=jta6(4,1:3);
% jta6=JTA6;
% plot2(jta6(i,:),'r.')
% Rbt.plot(sqtraj6(i,:))
% plot2(JTA6,'b')
% end
% for i=1:1:51
% atj7=Rbt.fkine(sqtraj7(i,:));
% jta7=transpose(atj7);
% JTA7(i,:)=jta7(4,1:3);
% jta7=JTA7;
% plot2(jta7(i,:),'r.')
% Rbt.plot(sqtraj7(i,:))
% plot2(JTA7,'b')
% end
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