M-File Help: RobotArm View code for RobotArm

RobotArm

Serial-link robot arm class

A subclass of SerialLink than includes an interface to a physical robot.

Methods

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

Properties (read/write)

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)

Object properties (read only)

n number of joints
config joint configuration string, eg. 'RRRRRR'
mdh kinematic convention boolean (0=DH, 1=MDH)

Note

Reference

See also

SerialLink, Link, DHFactor


RobotArm.RobotArm

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.

Options

'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

See also

SerialLink.SerialLink, Arbotix.Arbotix


RobotArm.cmove

Cartesian space move

RA.cmove(T) moves the robot arm to the pose specified by the homogeneous transformation (4x4).

%

Notes

See also

RobotArm.jmove, Arbotix.setpath


RobotArm.delete

Destroy the RobotArm object

RA.delete() destroys the machine interface and the RobotArm object.


RobotArm.getq

Get the robot joint angles

q = RA.getq() are a vector of robot joint angles.

Notes


RobotArm.gripper

Control the robot gripper

RA.gripper(C) sets the robot gripper according to C which is 0 for closed and 1 for open.

Notes


RobotArm.jmove

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.

Notes

See also

RobotArm.cmove, Arbotix.setpath


RobotArm.mirror

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.

See also

SerialLink.teach, SerialLink.plot


RobotArm.teach

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.

See also

SerialLink.teach, SerialLink.plot


 

© 1990-2014 Peter Corke.