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Posted by howy on January 14, 2007, 1:54 pm
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>From what I can guess, you will need to replace the two lines of code
x(i)=r*cos(t(i));
y(i)=r*sin(t(i));
(that fill the x() and y() arrays with all the points in a circle) with
a table that fills x and y with the points that compose a letter or a
square.
This program is filling x and y with a bunch of points for the arm to
go to.
If you have a PCB design program, the gerber file output could be used
to give you a list of points that make up text and shapes. I imagine
there must be simpler ways to convert text to line segment data (like
maybe PostScript).
Note you will need a "Lift pen" command in there somewhere.
-howy
> i`m working in a project to design to link arm that writes letters or
> draws some simple figure(sqaure,traingle).i obtained the inverse
> kinematic and simulated the mechanasim in mathlab.I could draw cicrle
> my question is how i can modify my program to draw a suqaure or
> trianlge or even letters?
> this is the mathlab code:
>
> clear all
> close all
> clc
> clear
> t=0:0.1:2*pi;
> r=1; //raduis of the cicle
> n=length(t);
> l1=1;
> l2=1;
>
> for i=1:n;
> x(i)=r*cos(t(i));
> y(i)=r*sin(t(i));
>
> c2=(x(i)^2+y(i)^2-l1^2-l2^2)/(2*l1*l2);
> s2=sqrt(1-c2^2);
> th2(i)=atan2(s2,c2)
> k1=l1+l2*c2;
> k2=l2*s2;
> th1(i)=atan2(y(i),x(i))-atan2(k1,k2)
> x1=l1*cos(th1(i));
> y1=l1*sin(th1(i));
> x2=x1+l2*cos(th1(i)+th2(i));
> y2=y1+l2*sin(th1(i)+th2(i));
> line([0,x1,x2],[0,y1,y2]);hold on;pause(0.5);
>
> end;
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