%%PARAMETERS FOR THE FIRST ROBOT

%--- For the transfmat calculations --seq='xziyxz';

type=[0 1 1 1 0 1];
values_transfmat=[1.5 30 0 -20 0.5 90];
transfmat = transform(seq, type, values_transfmat);
%--- For the denhart function --%The first robot, assuming all s = 1 and a = 1
table = [0 1 0 -90;
0 1 1 0;
0 -1 1 0;
0 0 0 -90;
0 1 0 0];
joints = ones(1,5);
values = [30 0 0 20 -40;
20 0 0 -40 0;
30 0 40 0 0];
time = 2; %Two seconds between each new position

%%PARAMETERS FOR THE SECOND ROBOT

%--- For the transfmat calculations --seq='xziyxz';
type=[0 1 1 1 0 1];
values_transfmat=[1.5 30 0 -20 0.5 90];
transfmat = transform(seq, type, values_transfmat);
%--- For the denhart function --%The second robot, assuming all s = 1 and a = 1
table = [0 1 0 -90;
0 0.3 0 90;
-90 0 0 0;
0 0 0 -90;
0 0 0 90;
0 1 0 0];
joints = ones(1,6);
values = [0 90 0 0 -0 0;
20 40 1 -40 0 30;
30 50 1.5 0 1 0];
time = 2; %Two seconds between each new position

Published with MATLAB R2014a