plot_results_line

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  PLOT_RESULTS_line
  Represents the error at each joint when performing an independent PID
  control for each joint. Planned represents the joint references for the 
  control, whereas followed are the actual joint positions simulated.

  See also INVERSEDYNAMIC, FORWARDDYNAMIC
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %  PLOT_RESULTS_line
0003 %  Represents the error at each joint when performing an independent PID
0004 %  control for each joint. Planned represents the joint references for the
0005 %  control, whereas followed are the actual joint positions simulated.
0006 %
0007 %  See also INVERSEDYNAMIC, FORWARDDYNAMIC
0008 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0009 
0010 % Copyright (C) 2012, by Arturo Gil Aparicio
0011 %
0012 % This file is part of ARTE (A Robotics Toolbox for Education).
0013 %
0014 % ARTE is free software: you can redistribute it and/or modify
0015 % it under the terms of the GNU Lesser General Public License as published by
0016 % the Free Software Foundation, either version 3 of the License, or
0017 % (at your option) any later version.
0018 %
0019 % ARTE is distributed in the hope that it will be useful,
0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0022 % GNU Lesser General Public License for more details.
0023 %
0024 % You should have received a copy of the GNU Leser General Public License
0025 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0026 close all
0027 figure, plot(reference), title('Joint references to follow a line in space(rad). ')
0028 legend('q_1', 'q_2', 'q_3', 'q_4', 'q_5', 'q_6')
0029 
0030 figure, plot(joint_positions), title('Joint positions (controlled) to follow a line in space(rad). ')
0031 legend('q_1', 'q_2', 'q_3', 'q_4', 'q_5', 'q_6')
0032 
0033 figure, plot(reference-joint_positions), title('Error during control (reference-joint_positions)(rad). ')
0034 legend('error q_1', 'error q_2', 'error q_3', 'error q_4', 'error q_5', 'error q_6')
0035 
0036 drawrobot3d(robot, reference(end,:)),
0037 %figure,
0038 pp=[];
0039 for i=1:length(reference),
0040     
0041     T=directkinematic(robot,reference(i,:)');
0042     
0043      pp=[pp T(1:3,4)];
0044      
0045 end
0046 
0047 plot3(pp(1,:),pp(2,:),pp(3,:), 'k', 'LineWidth', 4), %hold
0048 
0049 pp=[];
0050 for i=1:length(joint_positions),
0051     
0052     T=directkinematic(robot,joint_positions(i,:)');
0053     
0054     pp=[pp T(1:3,4)];
0055      
0056 end
0057 
0058 plot3(pp(1,:),pp(2,:),pp(3,:), 'r', 'LineWidth', 4),
0059