Difference between revisions of "MATLAB: Denavit Hartenberg parameters"
From Robotics
m (Nickchen moved page MATLAB: Configuration of manipulators using Denavit Hartenberg parameters to 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]]}} | ||
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| + | Individual Links can be configured using the class ''Link'' of the Robotics Toolbox. For a revolute joint, the parameter <math>\theta</math> is dynamic. So only the three other parameters have to be configured in the following way: | ||
| + | :<math>L = Link(\text{'d'}, v_d, \text{'a'}, v_a, \text{'alpha'}, v_{al})</math> | ||
| + | For a prismatic joint, respectively, the parameter <math>d</math> is dynamic and is not to be set: | ||
| + | :<math>L = Link(\text{'theta'}, v_t, \text{'a'}, v_a, \text{'alpha'}, v_{al})</math> | ||
| + | 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:links.png|left|612px]] | ||
Revision as of 11:40, 14 January 2016
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Individual Links can be configured using the class Link of the Robotics Toolbox. For a revolute joint, the parameter 
is dynamic. So only the three other parameters have to be configured in the following way:
For a prismatic joint, respectively, the parameter 
is dynamic and is not to be set:
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:
