4 DOFs system

example4dof.m

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+function example4dof()
+clc
+clear all
+close all
+
+n = 4;
+
+alpha = [0 0 0 0];
+offset = [0 0 0 0];
+d = [0 0 0 0];
+a = [1 1 1 1];
+base = [0; 0; 0];
+type = ['r', 'r', 'r', 'r'];
+
+disp('Finding solutions...');
+solutions = compute_dynamics(n, a, d, alpha, offset);
+
+init_t = 0;
+final_t = 4;
+dt = 0.01;     % Keep in mind that ode23 function is a variable step solver!
+N = (final_t - init_t) / dt;
+t_span = linspace(init_t, final_t, N);
+x0 = [-pi/4; 0; 0; 0; 0; 0; 0; 0];
+
+M = [1; 1; 1; 1];
+B = [0.5; 0.5; 0.5; 0.5];
+u = [0; 0; 0; 0];
+
+disp('Simulating the dynamics...');
+[t,x] = ode23(@simulate_dynamics, t_span, x0, [], n, u, M, B, solutions, final_t);
+
+animate_robot(d, a, alpha, offset, type, base, x);
+
+end
+