Matlab Plots

The following is a plot of how the joint angles varied over time. The angles of Link 1 are in the top plot, link 2 in the second plot, and so on.


Also, shown below is a plot of the xyz-coordinates of the end effector as they change over time,

This leads to the creation of the desired shape, shown below plotted in xy-coordinates,

Lastly, shown below is a figure of the actual voltage command (0 to 255) that is actually sent to the arduino for each motor,