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.
vrep = VREP(); arm = vrep.arm('IRB140'); q = arm.getq(); arm.setq(zeros(1,6)); arm.setpose(T); % set pose of base
getq | return joint coordinates |
setq | set joint coordinates |
animate | animate a joint coordinate trajectory |
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.
setobjparam_bool | set object boolean parameter |
setobjparam_int | set object integer parameter |
setobjparam_float | set object float parameter |
n | Number of joints |
vrep_mirror, vrep_obj, vrep_arm, vrep_camera, vrep_hokuyo
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.
'fmt', F | Specify format for joint object names (default '%s_joint%d') |
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.
'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 |
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.
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).
Graphical teach pendant
R.teach(options) drive a V-REP robot by means of a graphical slider panel.
'degrees' | Display angles in degrees (default radians) |
'q0', q | Set initial joint coordinates |
Robotics Toolbox for MATLAB © 1990-2012 Peter Corke.