three link robot arm manipulate

In a three-axis rotary robot, I want to create a 3D motion in which the axis moves from 60 degrees for the first time and stops at 100 degrees. The length of each link is 2.5cm, 4.5cm, and 21cm. Link 2 and 3 (4.5, 21) are fixed, and I want to configure only joint 1 rotation.

Answer 1

[Rijuta]

Hi Jongwon,

I understand that you are trying to create a 3D motion. Please refer to the steps mentioned below to achieve your goal:

1. Define the lengths of the three link
2. Define the range of motion for joint 1
3. Define the number of steps in the motion
4. Calculate the step size for joint 1
5. Define the initial position of the end effector
6. Create a loop to move joint 1 and calculate the position of the end effector for each step
7. Set the axis limits and labels for the plot
8. Run the code and observe the motion of the end effector

I hope the above steps help you solve the problem.