Results (Matlab Graphs) - From Keyboard to Home Position

Posted are graph results of movements of different parts of the robot with the use of Inverse Kinematics. This set of graphs represents the movement of the robot after it has pressed the space bar and is returning to its original home position.

Final End Effector Position over time(10 sec):

Trajectory Equations for this trajectory follow the same model as those for the initial movement.

Theta (Motor) 1 vs. time:

Theta (Motor) 2 vs. time:

Theta (Motor) 3 vs. time:

Theta (Motor) 4 vs. time: