robot
53
robot
Purpose
Robot object
Synopsis
r = robot
r = robot(rr)
r = robot(link ...)
r = robot(DH ...)
r = robot(DYN ...)
Description
robot
is the constructor for a robot object. The first form creates a default robot, and the second
form returns a new robot object with the same value as its argument. The third form creates a robot
from a cell array of link objects which define the robot's kinematics and optionally dynamics. The
fourth and fifth forms create a robot object from legacy DH and DYN format matrices.
The last three forms all accept optional trailing string arguments which are taken in order as being
robot name, manufacturer and comment.
Since Matlab does not support the concept of public class variables methods have been written to
allow robot object parameters to be referenced (r) or assigned (a) as given by the following table
method
Operation
Returns
robot.n
r
number of joints
robot.link
r+a
cell array of link objects
robot.name
r+a
robot name string
robot.manuf
r+a
robot manufacturer string
robot.comment
r+a
general comment string
robot.gravity
r+a
3-element vector defining gravity direction
robot.mdh
r
DH convention: 0 if standard, 1 if modified.
Determined from the link objects.
robot.base
r+a
homogeneous transform defining base of robot
robot.tool
r+a
homogeneous transform defining tool of robot
robot.dh
r
legacy DH matrix
robot.dyn
r
legacy DYN matrix
robot.q
r+a
joint coordinates
robot.qlim
r+a
joint coordinate limits, n
× 2 matrix
robot.islimit
r
joint limit vector, for each joint set to -1, 0 or
1 depending if below low limit, OK, or greater
than upper limit
robot.offset
r+a
joint coordinate offsets
robot.plotopt
r+a
options for
plot()
robot.lineopt
r+a
line style for robot graphical links
robot.shadowopt
r+a
line style for robot shadow links
robot.handle
r+a
graphics handles
Some of these operations at the robot level are actually wrappers around similarly named link object
Robotics Toolbox Release 8
Peter Corke, December 2008