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VREP_arm

V-REP mirror of robot arm object

Mirror objects are MATLAB objects that reflect objects in the V-REP environment. Methods allow the V-REP state to be examined or changed.

This is a concrete class, derived from VREP_mirror, for all V-REP robot arm objects and allows access to joint variables.

Methods throw exception if an error occurs.

Example

vrep = VREP();
arm = vrep.arm('IRB140');
q = arm.getq();
arm.setq(zeros(1,6));
arm.setpose(T);  % set pose of base

Methods

getq return joint coordinates
setq set joint coordinates
animate animate a joint coordinate trajectory

Superclass methods (VREP_obj)

getpos return position of object given handle
setpos set position of object given handle
getorient return orientation of object given handle
setorient set orientation of object given handle
getpose return pose of object given handle
setpose set pose of object given handle

can be used to set/get the pose of the robot base.

Superclass methods (VREP_base)

setobjparam_bool set object boolean parameter
setobjparam_int set object integer parameter
setobjparam_float set object float parameter

Properties

n Number of joints

See also

VREP_mirror, VREP_obj, VREP_arm, VREP_camera, VREP_hokuyo


VREP_arm.VREP_arm

Create a robot arm mirror object

R = VREP_arm(name, options) is a mirror object that corresponds to the robot arm named name in the V-REP environment.

Options

'fmt', F Specify format for joint object names (default '%s_joint%d')

Notes

See also

VREP.arm


VREP_arm.animate

Animate V-REP robot

R.animate(qt, options) animate the corresponding V-REP robot with configurations taken consecutive rows of qt (MxN) which represents an M-point trajectory.

Options

'delay', D Delay (s) betwen frames for animation (default 0.1)
'fps', fps Number of frames per second for display, inverse of 'delay' option
'[no]loop' Loop over the trajectory forever

See also

SerialLink.plot


VREP_arm.getq

Get joint angles of V-REP robot

R.getq() is the vector of joint angles (1xN) from the corresponding robot arm in the V-REP simulation.


VREP_arm.setq

Set joint angles of V-REP robot

R.setq(q) sets the joint angles of the corresponding robot arm in the V-REP simulation to q (1xN).


VREP_arm.teach

Graphical teach pendant

R.teach(options) drive a V-REP robot by means of a graphical slider panel.

Options

'degrees' Display angles in degrees (default radians)
'q0', q Set initial joint coordinates

Notes

See also

SerialLink.plot


 

© 1990-2014 Peter Corke.