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65 lines
2.6 KiB
65 lines
2.6 KiB
%DHFactor Simplify symbolic link transform expressions
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%
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% F = DHFactor(S) is an object that encodes the kinematic model of a robot
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% provided by a string S that represents a chain of elementary transforms from
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% the robot's base to its tool tip. The chain of elementary rotations and
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% translations is symbolically factored into a sequence of link transforms
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% described by DH parameters.
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%
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% For example:
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% s = 'Rz(q1).Rx(q2).Ty(L1).Rx(q3).Tz(L2)';
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% indicates a rotation of q1 about the z-axis, then rotation of q2 about the
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% x-axis, translation of L1 about the y-axis, rotation of q3 about the x-axis
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% and translation of L2 along the z-axis.
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%
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% Methods::
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%
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% base the base transform as a Java string
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% tool the tool transform as a Java string
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% command a command string that will create a SerialLink() object
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% representing the specified kinematics
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% char convert to string representation
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% display display in human readable form
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%
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% Example::
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%
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% >> s = 'Rz(q1).Rx(q2).Ty(L1).Rx(q3).Tz(L2)';
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% >> dh = DHFactor(s);
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% >> dh
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% DH(q1+90, 0, 0, +90).DH(q2, L1, 0, 0).DH(q3-90, L2, 0, 0).Rz(+90).Rx(-90).Rz(-90)
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% >> r = eval( dh.command('myrobot') );
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%
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% Notes::
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% - Variables starting with q are assumed to be joint coordinates
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% - Variables starting with L are length constants.
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% - Length constants must be defined in the workspace before executing the
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% last line above.
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% - Implemented in Java
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% - Not all sequences can be converted to DH format, if conversion cannot be
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% achieved an error is generated.
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%
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% Reference::
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% - A simple and systematic approach to assigning Denavit-Hartenberg parameters,
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% P.Corke, IEEE Transaction on Robotics, vol. 23, pp. 590-594, June 2007.
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% - Robotics, Vision & Control, Sec 7.5.2, 7.7.1,
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% Peter Corke, Springer 2011.
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%
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% See also SerialLink.
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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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% See also SerialLink.
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