% Program 5.6
% R robot arm
% Dynamics 
% Newton-Euler equation of motion
% the program uses the function: Rrobot(t,x) 
% the function is defined in the program Rrobot.m

clear; clc; close;
 
time = [0 10];

x0 = [pi/18 0];

[ts,xs] = ode45(@Rrobot, 0:1:10, x0);

plot(ts,xs(:,1)*180/pi,'LineWidth',1.5),...
xlabel('t (s)'), ylabel('\theta (deg)'), grid, axis([0, 10, 0, 70])

fprintf('Results \n'); fprintf('\n');
fprintf('    t(s)    theta(rad) omega(rad/s) \n'); 
[ts,xs]