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for i=1:5
f1=a.*cos(t2)+b.*cos(t3)-c;
f2=a.*sin(t2)+b.*sin(t3);
A=[-a.*sin(t2) -b.*sin(t3);a.*cos(t2) b.*cos(t3)]; %EL JACOBIANO
B=-[a.*cos(t2)+b.*cos(t3)-c;a.*sin(t2)+b.*sin(t3)];
X=inv(A)*B;
vt2=X(1);%variacion de tetha2
vt3=X(2);%variacion de tetha 3
end
%velocidades
A=[-a.*sin(t2) -b.*sin(t3);a.*cos(t2) b.*cos(t3)]; %EL JACOBIANO
C=[cr;0];
Y=inv(A)*C;
w2=Y(1);
w3=Y(2);
M1=[c,t2*180/pi,t3*180/pi,w2,w3];
if chi==0
AM=M1;
chi=1;
else
AM=[AM;M1];
end
c=c+0.01;
end
figure (1)
plot(c,t2)
title('t2 en funciuon de c')
xlabel('c')
ylabel('t2')
grid
figure (2)
plot(c,w2)
title('w2 en funcion de c')
xlabel('c')
ylabel('w2')
grid