robot/plot
56
robot/plot
Purpose
Graphical robot animation
Synopsis
plot(robot, q)
plot(robot, q, arguments...)
0.4
0.6
0.8
1
-1
-0.8
-0.6
-0.4
-0.2
0
0.2
0.4
0.6
Puma 560
x
y
z
Description
plot
is overloaded for robot objects and displays a graphical representation of the robot given the
kinematic information in
robot
. The robot is represented by a simple stick figure polyline where
line segments join the origins of the link coordinate frames. If
q
is a matrix representing a joint-space
trajectory then an animation of the robot motion is shown.
GRAPHICAL ANNOTATIONS
The basic stick figure robot can be annotated with
· shadow on the `floor'
· XYZ wrist axes and labels, shown by 3 short orthogonal line segments which are colored:
red (X or normal), green (Y or orientation) and blue (Z or approach). They can be optionally
labelled XYZ or NOA.
· joints, these are 3D cylinders for revolute joints and boxes for prismatic joints
· the robot's name
All of these require some kind of dimension and this is determined using a simple heuristic from
Robotics Toolbox Release 8
Peter Corke, December 2008
Summary :
robot/plot 56 robot/plot Purpose Graphical robot animation Synopsis plot(robot, q) plot(robot, q, arguments...) 0.4 0.6 0.8 1 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 Puma 560 x y z Description plot is overloaded for robot objects and displays a graphical representation of the robot given the kinematic information in robot .
Tags :
robot,joints,graphical,shown,plotrobot,animation,figure,xyz,segments,line,stick,robotplot,simple