M-File Help: RobotArm | View code for RobotArm |
Serial-link robot arm class
A subclass of SerialLink than includes an interface to a physical robot.
plot | display graphical representation of robot |
teach | drive the physical and graphical robots |
mirror | use the robot as a slave to drive graphics |
jmove | joint space motion of the physical robot |
cmove | Cartesian space motion of the physical robot |
isspherical | test if robot has spherical wrist |
islimit | test if robot at joint limit |
fkine | forward kinematics |
ikine6s | inverse kinematics for 6-axis spherical wrist revolute robot |
ikine3 | inverse kinematics for 3-axis revolute robot |
ikine | inverse kinematics using iterative method |
jacob0 | Jacobian matrix in world frame |
jacobn | Jacobian matrix in tool frame |
links | vector of Link objects (1xN) |
gravity | direction of gravity [gx gy gz] |
base | pose of robot's base (4x4 homog xform) |
tool | robot's tool transform, T6 to tool tip (4x4 homog xform) |
qlim | joint limits, [qmin qmax] (Nx2) |
offset | kinematic joint coordinate offsets (Nx1) |
name | name of robot, used for graphical display |
manuf | annotation, manufacturer's name |
comment | annotation, general comment |
plotopt | options for plot() method (cell array) |
n | number of joints |
config | joint configuration string, eg. 'RRRRRR' |
mdh | kinematic convention boolean (0=DH, 1=MDH) |
Construct a RobotArm object
ra = RobotArm(L, m, options) is a robot object defined by a vector of Link objects L with a physical robot (machine) interface m.
'name', name | set robot name property |
'comment', comment | set robot comment property |
'manufacturer', manuf | set robot manufacturer property |
'base', base | set base transformation matrix property |
'tool', tool | set tool transformation matrix property |
'gravity', g | set gravity vector property |
'plotopt', po | set plotting options property |
SerialLink.SerialLink, Arbotix.Arbotix
Cartesian space move
RA.cmove(T) moves the robot arm to the pose specified by the homogeneous transformation (4x4).
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RobotArm.jmove, Arbotix.setpath
Destroy the RobotArm object
RA.delete() destroys the machine interface and the RobotArm object.
Get the robot joint angles
q = RA.getq() are a vector of robot joint angles.
Control the robot gripper
RA.gripper(C) sets the robot gripper according to C which is 0 for closed and 1 for open.
Joint space move
RA.jmove(qd) moves the robot arm to the configuration specified by the joint angle vector qd (1xN).
RA.jmove(qd, T) as above but the total move takes T seconds.
RobotArm.cmove, Arbotix.setpath
Mirror the robot pose to graphics
RA.mirror() places the robot arm in relaxed mode, and as it is moved by hand the graphical animation follows.
SerialLink.teach, SerialLink.plot
Teach the robot
RA.teach() invokes a simple GUI to allow joint space motion, as well as showing an animation of the robot on screen.
SerialLink.teach, SerialLink.plot
© 1990-2014 Peter Corke.