# Plotting upper and lower boundaries of a trace fuction

1 visualizzazione (ultimi 30 giorni)
Conor Pierce il 17 Apr 2024
Commentato: Mathieu NOE il 19 Apr 2024
Hi guys, I am seeking some help with a trace function.
I would like the trace line at the foor of this mechanism to change colour for -71 < x < -4 and y < -89, to show the upper and lower bounds of the trace but I am stuck and can't figure out how to alter the code for the animation below to reflect this in the sequence, I would really appreciate some help with this!
function [trace] = Jansen_trace(AL, A0, step, n)
% [trace] = Jansen_trace(AL, A0, step, cycles)
% This function plots the Jansen mechanical linkage and traces the foot of
% the mechanism using an initial angle and progressing these angles over a
% given step
% Input AL = Initial crank angle
% Input A0 = [A1_0 A2_0 A3_0 A4_0 A5_0 A6_0 A7_0 A8_0] Initial estimates
% for other angles
% Input step = Desired step for angle to increase by in radians
% Input n = number of cycles to execute
% Output coordinates = [nodei_x nodei_y;
% nodej_x nodej_y;
% nodek_x nodek_y;
% noden_x noden_y;
% nodem_x nodem_y;
% nodep_x nodep_y;
% node0_x node0_y;
% node1_x node1_y] positions of the joints after
% last cycle
% Version 1, 11/04/2024 by Conor Pierce, Student Number 21302251
if ~isvector(A0)
error('Input A0 is a 1 x 8 row vector')
end
if ~isscalar(n) || n < 0
error('Input n is a positive integer number of cycles to be performed.')
end
if step < 0 || step > pi/4
error('Step must be a positive angle increment between 0 and pi/4.')
end
if A0(1) < 0 || A0(2) < 0 || A0(3) < 0 || A0(4) < 0 || A0(5) < 0 || A0(6) < 0 || A0(7) < 0 || A0(8) < 0
error('Angle estimates must be positive.')
end
if A0(1) > 2*pi || A0(2) > 2*pi || A0(3) > 2*pi || A0(4) > 2*pi || A0(5) > 2*pi || A0(6) > 2*pi || A0(7) > 2*pi || A0(8) > 2*pi
error('Angle estimates cannot be greater than 2*pi.')
end
close all
A_est = A0;
A_crank = AL;
trace = zeros(2, floor(2*n*pi/step));
count = 1;
% Set the crank to begin at initial estimate, increase by the step for
% every set of NR operations
for A_crank = AL : step : A_crank + 2*pi*n
A_update = Newton_Raphson_Jansen(A_crank, A_est); % Update Angles
NODES = Nodepos(A_crank, A_update); % Update node positions
% x and y coordinates of nodes
nodei = [NODES(1, 1), NODES(1, 2)];
nodej = [NODES(2, 1), NODES(2, 2)];
nodek = [NODES(3, 1), NODES(3, 2)];
nodem = [NODES(4, 1), NODES(4, 2)];
noden = [NODES(5, 1), NODES(5, 2)];
nodep = [NODES(6, 1), NODES(6, 2)];
node0 = [NODES(7, 1), NODES(7, 2)];
node1 = [NODES(8, 1), NODES(8, 2)];
drawnow
clf
axis([-115 50 -100 60])
nodep_x = NODES(6, 1);
nodep_y = NODES(6, 2);
% Place a line trace at the foot of the mechanism
trace(1, count) = nodep(1);
trace(2, count) = nodep(2);
line(trace(1, 1:count), trace(2, 1:count));
line([node0(1) nodei(1)], [node0(2) nodei(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2, 'Marker', '.', 'MarkerSize', 20, 'MarkerEdgeColor', [0 0.5 0.2])
line([nodei(1) nodej(1)], [nodei(2) nodej(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([nodej(1) nodek(1)], [nodej(2) nodek(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([noden(1) nodem(1)], [noden(2) nodem(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([nodei(1) nodem(1)], [nodei(2) nodem(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([nodej(1) node1(1)], [nodej(2) node1(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([node1(1) nodem(1)], [node1(2) nodem(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([node1(1) nodek(1)], [node1(2) nodek(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([noden(1) nodep(1)], [noden(2) nodep(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([noden(1) nodep(1)], [noden(2) nodep(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([nodem(1) nodep(1)], [nodem(2) nodep(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
line([nodek(1) noden(1)], [nodek(2) noden(2)], 'Color', [0.1 0.1 1], 'Linewidth', 2)
A_est = A_update;
count = count + 1;
end
##### 1 CommentoMostra -1 commenti meno recentiNascondi -1 commenti meno recenti
Mathieu NOE il 19 Apr 2024
hi
• values are missing : A0 ,AL ,n ,step ,...
• function Newton_Raphson_Jansen not provided

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