Animation of results

Animation specifications

2d or 3d?

dim = 2 ;

Number of frames

nFrames = 100 ;

Simulation time

tend = tmax ;

Animation

The blue manipulator shows the actual manipulator trajectory, while the yellow manipulator shows the desired manipulator trajectory.

AnimateTwoTrajectories[nDH, desiredOut, actual, dim, nFrames, tend] ;

[Graphics:../anim1.gif]

Created by Mathematica  (November 12, 2003)