1
INTRODUCTION
7
>> L1=link([0 1 0 0 0], 'standard')
L1 =
0.000000
1.000000
0.000000
0.000000
R
(std)
>> L2=link([0 1 0 0 0], 'standard')
L2 =
0.000000
1.000000
0.000000
0.000000
R
(std)
>> r=robot({L1 L2})
r =
noname (2 axis, RR)
grav = [0.00 0.00 9.81]
standard D&H parameters
alpha
A
theta
D
R/P
0.000000
1.000000
0.000000
0.000000
R
(std)
0.000000
1.000000
0.000000
0.000000
R
(std)
>>
The first few lines create link objects, one per robot link. Note the second argument to
link
which specifies that the standard D&H conventions are to be used (this is actually the
default). The arguments to the link object can be found from
>> help link
.
.
LINK([alpha A theta D sigma], CONVENTION)
.
.
which shows the order in which the link parameters must be passed (which is different to
the column order of the table above). The fifth element of the first argument,
sigma
, is a
flag that indicates whether the joint is revolute (
sigma
is zero) or primsmatic (
sigma
is non
zero).
The link objects are passed as a cell array to the
robot()
function which creates a robot
object which is in turn passed to many of the other Toolbox functions.
Note that displays of link data include the kinematic convention in brackets on the far right.
(std)
for standard form, and
(mod)
for modified form.
The robot just created can be displayed graphically by
Summary :
r=robot({L1 L2}) r = noname (2 axis, RR) grav = [0.00 0.00 9.81] standard D&H parameters alpha A theta D R/P 0.000000 1.000000 0.000000 0.000000 R (std) 0.000000 1.000000 0.000000 0.000000 R (std) >>
Tags :
link,which,standard,gtgt,std,sigma,robot,1000000,passed,order,conention,argument,first