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77 lines
2.3 KiB
77 lines
2.3 KiB
%MDL_HYPER3D Create model of a hyper redundant 3D manipulator
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%
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% MDL_HYPER3D is a script that creates the workspace variable h3d which
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% describes the kinematic characteristics of a serial link manipulator with
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% 10 joints which at zero angles is a straight line in the XY plane.
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%
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% MDL_HYPER3D(N) as above but creates a manipulator with N joints.
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%
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% Also define the workspace vectors:
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% qz joint angle vector for zero angle configuration
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%
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% R = MDL_HYPER3D(N) functional form of the above, returns the SerialLink object.
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%
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% [R,QZ] = MDL_HYPER3D(N) as above but also returns a vector of zero joint angles.
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%
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% Notes::
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% - The manipulator in default pose is a straight line 1m long.
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% - Unlike most other mdl_xxx scripts this one is actually a function that
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% behaves like a script and writes to the global workspace.
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%
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% See also SerialLink, mdl_hyper2d, mdl_ball, mdl_coil.
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% MODEL: hyper redundant, 10DOF, standard_DH
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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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function [r,qq] = mdl_hyper3d(N)
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if nargin == 0
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N = 10;
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end
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% create the links
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for i=1:N
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if mod(i,2) == 0
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links(i) = Link([0 0 1/N, 0]);
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else
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links(i) = Link([0 0 1/N, pi/2]);
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end
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q(i) = 0;
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end
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% and build a serial link manipulator
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robot = SerialLink(links, 'name', 'hyper3d', ...
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'plotopt', {'nojoints'});
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% place the variables into the global workspace
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if nargout == 0
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assignin('base', 'h3d', robot);
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assignin('base', 'qz', q);
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elseif nargout == 1
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r = robot;
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elseif nargout == 2
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r = robot;
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qq = q;
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end
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end
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