Computer Science me2016_GaussJacobi.m Write a MATLAB program that implements the

Question

Computer Science

me2016_GaussJacobi.m Write a MATLAB program that implements the Gauss-Jacobi method to find the solution of AX=B. This file is a generic function so that a functional call of me2016_GaussJacobi(A, B, x0 e_threshold, max_iter) should return the solution X of the AX=B, with the initial guess x0, specified error threshold e threshold and the maximum number of iteration max_iter. The implementation must be based on the matrix form with one-loop iterations as discussed in the class, instead of nested loops with element-by-element operations. me2016_KinematicsSensitivity.m The second matlab script file is to formulate the inverse kinematics problem of robots discussed in class. With the numerical values of initial position and angular values shown in the following figure, use the above linear equation solver me2016_GaussJacobi.m only to estimate how sensitive the angular motor should be. That is, given that the required resolution of the end effector needs to be Delta X = 0.1 and Delta y = 0.1, what will be the step sizes Delta alpha 1 and Delta 2 of the respective motors?

Explanation / Answer

function [x,dx] = jacobi(A,b,x,eps,N) % % The function jacobi applies Jacobi's method to solve A*x = b. % On entry: % A coefficient matrix of the linear system; % b right-hand side vector of the linear system; % x initial approximation; % eps accuracy requirement: stop when norm(dx)

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