MATLAB plss help !!! Make a plot of a planar a 3-link arm, with each link drawn as an individual line. The arm links should be 1, 1, and 0.5 units long. Each should bealong the x axis of the local frame, and the joint angles between the link frames should be, andIn addition to standard Matlab functions, your code may assume that you have access to the functions you created in previous assignments (someof these you will call directly in this assignment, some will only be called by other functions that you call). Remember that for these functions, thegrading script will use the instructor's copy of the functions:vector_set_rotate▪ vector_set_cumulative_sumplanar_rotation_setplanar_robot_arm_endpointsrotation_set_cumulative_productI R_planar...build_links. place_links.. draw_links44If your code is correct, the output should resemble the figure below. Note that your parameters(joint_angles, link_vector or link_color) may differfrom those in the example.44create_axes0402planar_robot_arm_links.02040644121416 Function1 function [link_vectors,...joint_angles,...link_colors,...link_set,...345ax,...61] = ME317_Assignment_draw_planar_arm_individual_links7 % Draw the arm as a set of lines, one per link and each of a different color8918W W N N N NNNNNNNEEEE111213.141516171819282122232425262728293832333435414243444546474849 end**********% Specify link vectors as a 1x3 cell array of 2x1 vectors, named% 'link_vectors'link_vectors = cell(1,3);link_vectors{1} = [1;0];link_vectors{2} = [1;0];link_vectors{3} = [0.5;0];34XXXXXXXXXX% Specify joint angles as a 3x1 vector, named 'joint_angles"joint angles [2*pi/5; -pi/2; pi/4];56% Specify colors of links as a 1x3 cell array named "link_colors". Each% entry can be either a standard matlab color string (e.g., "k' or 'r').% or a 1x3 vector of the RGB values for the color (range from 0 to 1)link_colors= {'k', 'b', 'k'};3637 link_end_set_with_base] = planar_robot_arm_links (link_vectors, joint_angles);3839XXXXXXXXX% Generate a cell array named 'link_set' containing start-and-end% points for the links, named link_set[link_set,...R_joints,...R_links,...link_set_local,...link_vectors_in_world,...links_in_world,...link_end_set,...XXXXXXXXX% Create figure and axes for the plot, and store the handle in a% variable named 'ax"[ax, f] = create_axes (69420);Code to call your function >% Use "draw_links' to draw the link set, saving the output as a% variable '1'1 = planar_draw_links (link_set, link_colors, ax);1 [link_vectors,...2joint angles,...link_colors,...link_set,...ax,...1] = ME317_Assignment_draw_planar_arm_individual_links;

function [link_vectors,... joint_angles,... link_colors,...…

Make a plot of a planar a 3-link arm, with each link drawn as an individual line. The arm links should be 1, 1, and 0.5 units long. Each should be along the x axis of the local frame, and the joint angles between the link frames should be and In addition to standard Matlab functions, your code may assume that you have access to the functions you created in previous assignments (some of these you will call directly in this assignment, some will only be called by other functions that you call). Remember that for these functions, the grading script will use the instructor's copy of the functions: • vector_set_rotate vector_set_cumulative_sum • planar_rotation_set planar_robot_arm_endpoints rotation_set_cumulative_product . . R_planar • . create_axes . build_links • place_links . . draw_links If your code is correct, the output should resemble the figure below. Note that your parameters (joint_angles, link_vector or link_color) may differ from those in the example ** 44 42 planar_robot_arm_links . as ** 12 14 14

Make a plot of a planar a 3-link arm, with each link drawn as an individual line. The arm links should be 1, 1, and 0.5 units long. Each should be along the x axis of the local frame, and the joint angles between the link frames should be and In addition to standard Matlab functions, your code may assume that you have access to the functions you created in previous assignments (some of these you will call directly in this assignment, some will only be called by other functions that you call). Remember that for these functions, the grading script will use the instructor's copy of the functions: • vector_set_rotate vector_set_cumulative_sum • planar_rotation_set planar_robot_arm_endpoints rotation_set_cumulative_product . . R_planar • . create_axes . build_links • place_links . . draw_links If your code is correct, the output should resemble the figure below. Note that your parameters (joint_angles, link_vector or link_color) may differ from those in the example 44 42 planar_robot_arm_links . as 12 14 14

Database System Concepts

7th Edition

ISBN:9780078022159

Author:Abraham Silberschatz Professor, Henry F. Korth, S. Sudarshan

Publisher:Abraham Silberschatz Professor, Henry F. Korth, S. Sudarshan

Chapter1: Introduction

Section: Chapter Questions

Problem 1PE

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