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59 lines
1.8 KiB
59 lines
1.8 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 serial link manipulator comprises a series of links. Each link is described
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% by four Denavit-Hartenberg parameters.
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%
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% Let's define a simple 2 link manipulator. The first link is
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L1 = Link('d', 0, 'a', 1, 'alpha', pi/2)
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% The Link object we created has a number of properties
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L1.a
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L1.d
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% and we determine that it is a revolute joint
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L1.isrevolute
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% For a given joint angle, say q=0.2 rad, we can determine the link transform
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% matrix
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L1.A(0.2)
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% The second link is
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L2 = Link('d', 0, 'a', 1, 'alpha', 0)
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% Now we need to join these into a serial-link robot manipulator
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bot = SerialLink([L1 L2], 'name', 'my robot')
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% The displayed robot object shows a lot of details. It also has a number of
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% properties such as the number of joints
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bot.n
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% Given the joint angles q1 = 0.1 and q2 = 0.2 we can determine the pose of the
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% robot's end-effector
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bot.fkine([0.1 0.2])
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% which is referred to as the forward kinematics of the robot. This, and the
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% inverse kinematics are covered in separate demos.
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% Finally we can draw a stick figure of our robot
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bot.plot([0.1 0.2])
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