Roboterarm/Bewegungsstudie.py

import matplotlib.pyplot as plt
import numpy as np

n = 100000

l = [10, 26, 33, 30]

alpha_0 = np.ones(n) * 90
alpha_1 = np.random.uniform(0, 120, n)
alpha_2 = np.random.uniform(-60, 60, n)
alpha_3 = np.random.uniform(-100, 20, n)

alpha = np.vstack((alpha_0, alpha_1, alpha_2, alpha_3)) * (np.pi / 180)
start_x = 0
start_y = 0

x0 = np.zeros(n)
y0 = np.zeros(n)
x1 = np.zeros(n)
y1 = np.zeros(n)
x2 = np.zeros(n)
y2 = np.zeros(n)
x3 = np.zeros(n)
y3 = np.zeros(n)

for dim in range(n):
    x0[dim] = start_x + np.cos(alpha[0, dim]) * l[0]
    y0[dim] = start_y + np.sin(alpha[0, dim]) * l[0]

    x1[dim] = x0[dim] + np.cos(alpha[1, dim]) * l[1]
    y1[dim] = y0[dim] + np.sin(alpha[1, dim]) * l[1]

    x2[dim] = x1[dim] + np.cos(alpha[2, dim]) * l[2]
    y2[dim] = y1[dim] + np.sin(alpha[2, dim]) * l[2]

    x3[dim] = x2[dim] + np.cos(alpha[3, dim]) * l[3]
    y3[dim] = y2[dim] + np.sin(alpha[3, dim]) * l[3]

plt.scatter(x3, y3, marker='x', color='red')
plt.xlabel('X in cm')
plt.ylabel('Y in cm')
plt.title('Movement')
plt.grid()

plt.show()