Hello everybody, I am Brazilian and I am developing a Hexapod. I am using Matlab to generate the trajectories of the joints. I made a code that performs the trajectory of a cycloid to the feet of Hexapod. But I can not understand where I put the duty factor in the code. can anybody help me?
I’m putting my códido attached. About code:
First I show the cycloid in the plane Y and Z and then show the robot’s body trajectory in Y.
Plan_GUI_Cicloide.rar (1.43 KB)