Matlab Assignment, U need the matlab software to work on this

EET 477: Robotics

Assignment #5

Chapter 7: Trajectory Generation

Directions:

Use Matlab to perform each of the indicated tasks lists in the problems below. For

submission, include the Matlab code for each problem and, when asked for, the joint

locations in Cartesian space and a graphical representation of the manipulator

configuration.

1. Develop a Matlab program that will implement a linear interpolation algorithm to

move the end effector from an initial point to a destination along a linear path.

The program should use the cyclic coordinate descent algorithm developed in

Chapter 4 as well as the D-H parameters stated listed below and other program

parameters from the previous assignment. The program should interpolate at least

100 points between the two points. (5 points)

[ �⃗� 𝑟

�⃗�

] = [ 00 00 00 00 00 00

0 40 30 20 10 5 𝜃1 𝜃2 𝜃3 𝜃4 𝜃5 0

]

2. Modify the program from problem 1 to accept 5 separate destinations, then

subsequently move the manipulator between each of the six locations. This six

locations include the five selected destinations and initial location. (5 points)