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. 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 | + | 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> and the last one defines the type of the joint. For a revolute joint, the type parameter has to be set to <math>0</math>, for a prismatic joint to <math>1</math>. |
| + | :''L = Link([theta d a alpha type])'' | ||
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|526px]] | :[[file:mat-links.png|526px]] | ||
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|526px]] | :[[file:mat-sl.png|526px]] | ||
Latest revision as of 14:22, 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 
and the last one defines the type of the joint. For a revolute joint, the type parameter has to be set to 
, for a prismatic joint to 
.
- L = Link([theta d a alpha type])
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:
