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85 lines
2.3 KiB
85 lines
2.3 KiB
%SerialLink.fkine Forward kinematics
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%
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% T = R.fkine(Q) is the pose (4x4) of the robot end-effector as a homogeneous
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% transformation for the joint configuration Q (1xN).
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%
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% If Q is a matrix (KxN) the rows are interpretted as the generalized
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% joint coordinates for a sequence of points along a trajectory. Q(i,j) is
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% the j'th joint parameter for the i'th trajectory point. In this case
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% T is a 3d matrix (4x4xK) where the last subscript is the index along the path.
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%
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% Note::
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% - The robot's base or tool transform, if present, are incorporated into the
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% result.
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% - Joint offsets, if defined, are added to Q before the forward kinematics are
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% computed.
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%
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% See also SerialLink.ikine, SerialLink.ikine6s.
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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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% Modifications by Joern Malzahn to support CodeGenerator functionality
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function [t allt] = fkine(robot, q)
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%
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% evaluate fkine for each point on a trajectory of
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% theta_i or q_i data
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%
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n = robot.n;
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if nargout > 1
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allt = zeros(4,4,n);
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if isa(q,'sym')
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allt = sym(allt);
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end
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end
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L = robot.links;
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if numel(q) == n
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t = robot.base;
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for i=1:n
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t = t * L(i).A(q(i));
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if nargout > 1
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allt(:,:,i) = t; % intermediate transformations
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end
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end
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t = t * robot.tool;
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else
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if numcols(q) ~= n
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error('q must have %d columns', n)
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end
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t = zeros(4,4,0);
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for qv=q', % for each trajectory point
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tt = robot.base;
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for i=1:n
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tt = tt * L(i).A(qv(i));
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end
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t = cat(3, t, tt * robot.tool);
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end
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end
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if isa(t, 'sym')
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t = simplify(t);
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end
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%robot.T = t;
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%robot.notify('Moved');
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