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1.4.1 MATLAB script
Pentru a vizualiza rezultatele, puteti utiliza o functie MATLAB, pe care o gasiti pe
Desktop.
Deschideti MATLAB si navigati la folderul ‘RSC/Lab1’. Click dreapta pe fisierul
‘Objects.mat’, pentru a-I incarca continutul in Workspace. Acest fisier contine 4 matrici,
care reprezinta pozitia celor 2 obiecte din exemplul anterior. V1 si V2 contin pozitiile
muchiilor obiectelor si ar trebui transformate (vectorii F1 si F2 doar stocheaza
informatiile despre felul in care punctele creeaza fetele obiectelor).
V1 si V2 sunt de dimensiunile 8x4, respective 12x4; fiecare rand reprezinta un varf al
obiectului si fiecare coloana o coordonata (X,Y,Z,1).
Puteti transforma obiectele, transformand matricile V1 si V2 si apeland functia
‘Draw_Objects’ pentru a vedea rezultatul transformarii.
Daca vreti sa incepeti din pozitia initiala, incarcati din nou fisierul ‘Objects.mat’.

1.4.2 Robotics toolbox

Acest toolbox contine functii relevante pentru aplicatiile de robotica. Il puteti descarca
(impreuna cu documentatia) de pe http://petercorke.com/wordpress/toolboxes/robotics-
toolbox.
Cu ajutorul toolbox-ului putem scrie mai usor matricile de transformare, prin functii care
le genereaza automat, si anume:
- trotx, troty, trotz pentru rotatii
- transl pentru translatii

Functiile pentru rotatii se folosesc astfel:

- trotx(θ) pentru o rotatie cu θ radiani in jurul axei X
- trotx(θ, ‘deg’) pentru o rotatie cu θ grade in jurul axei X

Pentru matricile de transformare de translatie, avem o singura functie pentru toate

axele. Aceasta functie ia ca parametru de intrare un vector cu 3 elemente (reprezentand
translatiile pe axele X,Y,Z), sau 3 parametri, unul pentru fiecare dintre translatii:
- transl([a,b,c])
- transl(a,b,c)