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41 lines
1.3 KiB
41 lines
1.3 KiB
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% Ryan Steindl based on Robotics Toolbox for MATLAB (v6 and v9)
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%
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function v = isspherical(r)
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%SerialLink.isspherical Test for spherical wrist
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%
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% R.isspherical() is true if the robot has a spherical wrist, that is, the
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% last 3 axes intersect at a point.
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%
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% See also SerialLink.ikine6s.
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L = r.links(end-2:end);
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v = false;
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if ~isempty( find( [L(1).a L(2).a L(3).a L(2).d L(3).d] ~= 0 ))
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return
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end
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if (abs(L(1).alpha) == pi/2) & (abs(L(1).alpha + L(2).alpha) < eps)
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v = true;
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return;
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end
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end
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