Write a MATLAB program to compute the arm angle solution for three knot points. Write another program to compute the splines required to generate three knot points and to the path of the robot’s hand.Do this problem for the case where L, = 4, Lz = 3, =(6,O),(xf, yf)=(O,4)

Solution

The following script file performs these calculations. It solves the specific case where L1= 4, Lz = 3, (xo, Yo) = (6,0), (xf, yf) = (0,4), using three’equally spaced knot points along the straight-line path.

The second program uses these angles to compute the splines and plot the hand’s path is shown in Figure7.4-5.The hand’s path is very close to a straight line as desired.

Figure 7.4-5 Path of a robot hand using three knot points,