Move the arm in the circle

Picture
% två cirklar och två armar

clear, clf
R=30;
LS=30; LM=23; LT=17; % visarnas längder
fi=0:2*pi/60:2*pi;

for jj = 1:61
hh(jj) = 0
end

plot3(0,0,0,'o',R*cos(fi),hh, R*sin(fi), 'Linewidth',3)
axis([-40 50 -40 50 -30 50]), hold on, drawnow
grid


 %R = [5;0;0]
 %M=[cos(pi/2) -sin(pi/) 0; sin(pi/2) cos(pi/2) 0; 0 0 1]
%X = M*R

dv=2*pi/60;
sx=LS*sin(dv*10); sy=LS*cos(dv*10);

plot3(sx,0,sy,'o',[0 sx],[0 0],[0 sy],'g')
hold on


aa= sx
bb = sy

sx=LS*sin(dv*15); sy=LS*cos(dv*15);

plot3(aa+0,0,bb+0,'o',aa + R*cos(fi),hh, bb + R*sin(fi), 'Linewidth',3)

plot3(aa+sx,0,bb+sy,'o',aa + [0 sx],[0 0],bb + [0 sy],'g')


%Percy Villegas Tello

Picture

RobotArm

Picture
Here you can see an easy Robot arm in MATLAB

You have two program, head program there you write the angles and the print function how print the robot











%HEAD PROGRAM

%HeadCoordianteTransforms "Head"

%written the angle

RotationAngle_1 = 90;

RotationAngle_2 = 90;

RotationAngle_3 = 90;

%Angle to radian

radian_1 = RotationAngle_1 /360 * 2*pi;

radian_2 = RotationAngle_2 /360 * 2*pi;

radian_3 = RotationAngle_3 /360 * 2*pi;

% Call the function how plot the robot arm

Rotation_Zaxis(radian_1,radian_2,radian_3)





%%%%%%%%%%%%%%%%%%%%%%%%
% PRINT PROGRAM
%Rotation

%Joint 1 is rotating around its own Z-axis

%Joint 2 and 3 are rotating around their Y-axes
function [X1]= Rotation_Zaxis(angle_1,angle_2,angle_3)
hold
off;

%The rotation matris for rotations around z axes

%X1 = Rz*Xw

Rz = [cos(angle_1) -sin(angle_1) 0;sin(angle_1) cos(angle_1) 0; 0 0 1];

Xw = [1; 0; 0];

X1 = Rz * Xw;
%Transformation matrices for z axes

Tz = [cos(angle_1) -sin(angle_1) 0 0;sin(angle_1) cos(angle_1) 0 0;0 0 1 5 ;0 0 0 1];
%Plot L1

plot3(X1(1),X1(2),0,'o r',[X1(1) X1(1)],[X1(2) X1(2)],[0 5],'g'),hold on, drawnow;

grid
%Transformation matrice for y axes

Ty = [cos(angle_2) 0 sin(angle_2) 5*sin(angle_2);0 1 0 0;-sin(angle_2) 0 cos(angle_2) 5*cos(angle_2) ;0 0 0 1];
%The position of L2

Pos2Frame = Tz*Ty;
%Plot L2

plot3(X1(1),X1(2),5,'o r',[X1(1) Pos2Frame(13)+X1(1)],[X1(2) Pos2Frame(14)+X1(2)],[5 ,Pos2Frame(15)],'g'),hold on, drawnow;
%Transformation matrice for y axes

Ty1 = [cos(angle_3) 0 sin(angle_3) 3*sin(angle_3);0 1 0 0;-sin(angle_3) 0 cos(angle_3) 3*cos(angle_3) ;0 0 0 1];
%The position of L3

EndPosition = Tz*Ty*Ty1
%plot L3

plot3(Pos2Frame(13)+X1(1),Pos2Frame(14)+X1(2),Pos2Frame(15),'o r',[Pos2Frame(13)+X1(1) EndPosition(13)],[Pos2Frame(14)+X1(2) EndPosition(14)],[Pos2Frame(15) EndPosition(15)],'g'),hold on, drawnow
plot3(EndPosition(13),EndPosition(14),EndPosition(15),
'o')

axis([-10 15 -10 15 0 15])

grid
on
%Percy Villegas Tello
 

How a Graphical User Interface Works in MATLAB

Picture
          We want to change the k value in the function y = x * k +3.

Here you see MATLAB and how you must choose for creating and displaying a graphical use interface!

Picture
Our task is to change the k value in the function y = x * k + 3

 Choose Blank GUI (Default), see the picture

Picture
 

The completed GUI layout

Picture
Click on the "pushbutton" button in the list of GUI components and create the shape of the pushbutton in the layout area.

Here you can see what you can do with GUI!!

Picture
 Here the code:

If you have problem send me a mail!

Percy Villegas Tello
2009-09-05














function varargout = RitaDiagram(varargin)

gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @RitaDiagram_OpeningFcn, ...
                   'gui_OutputFcn',  @RitaDiagram_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin && ischar(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end

% --- Executes just before RitaDiagram is made visible.
function RitaDiagram_OpeningFcn(hObject, eventdata, handles, varargin)

handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% --- Outputs from this function are returned to the command line.
function varargout = RitaDiagram_OutputFcn(hObject, eventdata, handles)

varargout{1} = handles.output;


% --- Executes on button press in pushbutton1.
function pushbutton1_Callback(hObject, eventdata, handles)

grid on
persistent count
if  isempty(count )
count =0;
 end
count = count +1

if (count>1)
    count = 0
    grid off
  
end
if (count==1)
   
   grid on
end

function edit1_Callback(hObject, eventdata, handles)

value = str2double(get (hObject,'String'))

x = -5:1:5
y = x* value + 3
plot(x,y)
grid on

% Percy Villegas Tello 2009-09-05

Dags att anmäla sitt lag till fotbollsturneringer "Lilla VM 2009"
Den 4 juli Klockan 10:00 i Flemingsberg "Annerstaskolan"

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                                      Lilla VM 2009
Hej den 4 juli 2009 ordnar vi en fotbollsturnering "Lilla VM 2009" i Flemingsberg "Annerstaskolan". Att anmäla hela sitt lag kostar 200 kr för de som är över 16 år. De som är under 16 år betalar 150 för hela laget.



Hälsningar  och välkomna till vårt Fest!!
Percy Villegas
APM "ACTIVE POWER MOVEMENT"/FlempanBoys

 Här är medaljer Guld, Silver och Brons!!!!


lilla VM 2009

Denna pokal har graverad "Lilla VM 209". Nästa år ska det stå "Lilla VM 2010":





Kontakt person för turneringen och denna sida

Percy Villegas

0701469056

percy_2020@live.se



 

Kontakta oss

Kontakt person för turneringen och denna sida

Percy Villegas

0701469056

percy_2020@live.se



 


Kontakta oss om denna sida eller "lilla VM 2009"