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66 lines
1.6 KiB
66 lines
1.6 KiB
% Copyright (C) 1993-2013, 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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%%begin
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% A large number of Toolbox functions can operate on symbolic rather than
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% numeric quantities.
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%
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% Consider the simple case of a rotation matrix
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syms a
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rotx(a)
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% Or a more complex example for Euler angles
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syms a b c
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eul2r(a, b, c)
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% Now let's consider a robot link with symbolic parameters
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syms q A D alpha
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L = Link('d', D, 'a', A, 'alpha', a, 'revolute');
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% the link transform matrix for a joint angle q is then
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L.A(q)
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% Consider now a simple two-link robot, we load the model
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mdl_twolink
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% which has created a robot model in the workspace
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twolink
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% Now this is a numeric robot model, and we need to create a symbolic model
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twolink_sym = twolink.sym()
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% which appears very similar, however all the constants are now symbolic rather
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% than numeric.
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% Next define the two joint angles as symbolic variables
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syms q1 q2
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% and then the forward kinematics is
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twolink_sym.fkine([q1, q2])
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