Scribd
Upload
36 views1 page

C Space Code

The document contains code to plot the configuration space (cspace) of a 2-link robot moving in a workspace containing obstacles. It defines the coordinates of obstacle vertices, plots the obstacle and robot links, then iterates through all possible joint angle combinations to check for collisions and plots collision points in the cspace plot in red.

Uploaded by

prince
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
36 views1 page

C Space Code

The document contains code to plot the configuration space (cspace) of a 2-link robot moving in a workspace containing obstacles. It defines the coordinates of obstacle vertices, plots the obstacle and robot links, then iterates through all possible joint angle combinations to check for collisions and plots collision points in the cspace plot in red.

Uploaded by

prince
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 1

3/9/19 3:10 PM C:\Users\Prince\Desktop\robot...\cspace.

m 1 of 1

%cspace
clc
clear
close all

x = [4 6 5 6 2 3.5 2 ];%x cordinates of vertices of obstacle


y = [0 -2 2 4 4 2 -2];%y cordinates of vertices of obstacle
figure(1);
hold on
axis([-8,8,-8,8]);
obstacle = polyshape(x,y);
plot(obstacle); %plotting the obstacle
[link1x,link1y,link2x,link2y] = robot(30,120);
plot(link1x,link1y,'Linewidth',4);
plot(link2x,link2y,'Linewidth',4);
%plotting the cspace
figure(2);
axis([0,360,0,360]);
hold on
scatter(30,120,'filled');
theta_1 = 0:2:360;
theta_2 = 0:2:360;
hold on
for i = 1:size(theta_1,2)
for j = 1:size(theta_2,2)
[link1x,link1y,link2x,link2y] = robot(theta_1(i),theta_2(j)); %return the
coordinates of the two links
[in1,on1]= inpolygon(link1x,link1y,x,y);
[in2,on2]= inpolygon(link2x,link2y,x,y);
a = numel(link1x(in1));
b = numel(link2x(in2));
if a|b
plot(theta_2(j),theta_1(i), '.','Color','r')
end
end
end

You might also like