a1 = 0; alpha1 = 0; d1 = 0;a2 = 475; alpha2 = pi/2; d2 = 150;a3 = 600; alpha3 = 0; d3 = 0;%DH parameter
t1_min = -pi/2; t1_max = pi/2;t2_min = -pi/3; t2_max = pi/3;t3_min = -pi/3; t3_max = pi/3; % joint limits
% Monte Carlo method
% sampling size
N = 20000;t1 = t1_min + (t1_max-t1_min)*rand(N,1);t2 = t2_min + (t2_max-t2_min)*rand(N,1);t3 = t3_min + (t3_max-t3_min)*rand(N,1);function [ T ] = TranMat( a,b,c,d ) T = [ cos(d) -sin(d)*cos(b) sin(d)*sin(b) a*cos(d); sin(d) cos(d)*cos(b) -cos(d)*sin(b) a*sin(d); 0 sin(b) cos(b) c; 0 0 0 1 ]; for i = 1:N A1 = TransMat(a1,alpha1,d1,t1(i)); A2 = TransMat(a2,alpha2,d2,t2(i)); A3 = TransMat(a3,alpha3,d3,t3(i)); T = A1*A2*A3; X=T(1,4); Y=T(2,4); Z=T(3,4); plot3(X,Y,Z,'.') hold on; endend
MATLAB: Is the plot not showing
plot
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