Difference between revisions of "MATLAB: Denavit Hartenberg parameters"
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{{MatlabNavigation|previous=[[MATLAB: Quaternions|Quaternions]]|article=[[Denavit-Hartenberg parameters]]|next=[[MATLAB: A-Matrices|A-Matrices]]}} | {{MatlabNavigation|previous=[[MATLAB: Quaternions|Quaternions]]|article=[[Denavit-Hartenberg parameters]]|next=[[MATLAB: A-Matrices|A-Matrices]]}} | ||
− | Individual Links can be configured using the class ''Link'' of the Robotics Toolbox. | + | Individual Links can be configured using the class ''Link'' of the Robotics Toolbox. Five parameters have to be set as a vector. The first four are <math>\theta</math>, <math>d</math>, <math>a</math> and <math>\alpha</math>. For a revolute joint, the last parameter has to be set to <math>0</math>, for a prismatic joint to <math>1</math>. |
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− | For a | ||
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So if a manipulator consisting of one prismatic joint and two revolute joints is to be created, the three links could be configured as follows: | So if a manipulator consisting of one prismatic joint and two revolute joints is to be created, the three links could be configured as follows: | ||
:[[file:mat-links.png|612px]] | :[[file:mat-links.png|612px]] | ||
The corresponding serial link is then created using the class ''SerialLink'' and passing the existing links in form of a vector as parameter: | The corresponding serial link is then created using the class ''SerialLink'' and passing the existing links in form of a vector as parameter: | ||
:[[file:mat-sl.png|612px]] | :[[file:mat-sl.png|612px]] |
Revision as of 11:59, 14 January 2016
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Individual Links can be configured using the class Link of the Robotics Toolbox. Five parameters have to be set as a vector. The first four are , , and . For a revolute joint, the last parameter has to be set to , for a prismatic joint to . So if a manipulator consisting of one prismatic joint and two revolute joints is to be created, the three links could be configured as follows:
The corresponding serial link is then created using the class SerialLink and passing the existing links in form of a vector as parameter: