puma560;robot=p560N=60; % Numero de Iteraciones

z=linspace(0.432,0.482,N); % se mueve 0.05 unidadesx=zeros(1,N);y=x;for j=1:Ny(1,j)=-0.15;x(1,j)=0.452;endphi=zeros(1,N);for k=1:length(z)phik=phi(k);T(:,:,k)=[cos(phik) -sin(phik) 0 x(k); sin(phik) cos(phik) 0 y(k); 0 0 1 z(k); 0 0 0 1];endqzz=ikine(robot,T)plot(robot,qzz)

y=linspace(-0.15,0.05,N); % se mueve 0.20 unidadesx=zeros(1,N);z=x;for j=1:Nx(1,j)=0.452;z(1,j)=0.482;endphi=zeros(1,N);for k=1:length(y)phik=phi(k);T(:,:,k)=[cos(phik) -sin(phik) 0 x(k); sin(phik) cos(phik) 0 y(k); 0 0 1 z(k); 0 0 0 1];endqyy=ikine(robot,T)plot(robot,qyy)

x=linspace(0.452,0.702,N); % se mueve 0.25 unidadesy=zeros(1,N);z=y;for j=1:Ny(1,j)=0.05;z(1,j)=0.482;endphi=zeros(1,N);for k=1:length(x)phik=phi(k);T(:,:,k)=[cos(phik) -sin(phik) 0 x(k); sin(phik) cos(phik) 0 y(k); 0 0 1 z(k); 0 0 0 1];endqxx=ikine(robot,T)plot(robot,qxx)

y=linspace(0.05,-0.05,N); % se mueve 0.10 unidadesx=zeros(1,N);

z=x;for j=1:Nx(1,j)=0.702;z(1,j)=0.482;endphi=zeros(1,N);for k=1:length(y)phik=phi(k);T(:,:,k)=[cos(phik) -sin(phik) 0 x(k); sin(phik) cos(phik) 0 y(k); 0 0 1 z(k); 0 0 0 1];endqyy=ikine(robot,T)plot(robot,qyy)