The following points we will be considering in order to complete our objective.
Table 1.
Coordinates of the manipulator arm path.
x y code Interpolation position.
0 0 0 home.
2 4 1 intermediate.
6 4 1 intermediate.
7 6 2 grasp.
12 7 1 intermediate.
15 1 3 release.
8 -1 1 intermediate.
4 -2 1 intermediate.
0 0 0 home.
Procedures: In order to successfully meet our objectives, we must use the MATLAB program. Several steps have to be followed in order to achieve our goals.
In order to complete objectives number one, we must follow the following steps:.
1. Initially, we have a program that needs some modification in order to acquire the cubic-spline interpolation and the entire set of values without any repeated points.
2. In the program, we simply need to add extra commands.
3. We can simply find all the values by setting n1, n2, and n3 equal to the length(t1), length(t2), and the length(t3) respectively. The t values are the increments in the x-axis of.1, which the program uses. T1 corresponds to the points starting from 0 to 7. The 0 is the home position to the release position. In addition, t2 is the grasp position to the release position. In addition, t2 is the grasp position from 7 to 15. Finally, t3 is the release position back to home position, which include the x values from 15 to 0.
4. All of these are with an increment of .1, which we have now labeled as n1, n2, and n3 accordingly.
5. We now enter the commands xnew=[t1(1:n1-1),t2(1:n2-1),t3] and ynew=[s1(1:n1-1),s2(1:n2-1),s3]. These commands calculate the new x and y values with the increment of .1 without the repeated values, which are included in the commands as n1-1 and n2-1.
6. Having done that, we add the command code1=ones(size(xnew)) which adds ones everywhere the x values are located.
7. Now we add code(1)=0, code1(n1)=2, code1(n1+n2-1)=3, and finally code1(length(xnew))=0. These commands enter the code where the object is at an intermediate, home, release, and grasp position.
