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37 lines
1.3 KiB
37 lines
1.3 KiB
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% Copyright (C) 1993-2015, 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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clear L
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L(1) = Revolute('d', 40, 'alpha', -pi/2);
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L(2) = Revolute('a', -105, 'alpha', pi, 'offset', pi/2);
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L(3) = Revolute('a', -105);
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L(4) = Revolute('a', -105);
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% Note alpha_2 = pi, needed to account for rotation axes of joints 3 and 4 having
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% opposite sign to joint 2.
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%
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% s='Rz(q1) Tz(L1) Ry(q2) Tz(L2) Ry(q3) Tz(L3) Ry(q4) Tz(L4)'
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% DHFactor(s)
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arb = Arbotix('port', '/dev/tty.usbserial-A800JDPN', 'nservos', 5);
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px = RobotArm(L, arb, 'name', 'PhantomX', 'manufacturer', 'Trossen Robotics');
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qz = [0 0 0 0];
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px.tool = trotz(-pi/2) * trotx(pi/2);
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