M-File Help: RobotArm | View code for RobotArm |
Serial-link robot arm class
A subclass of SerialLink than includes an interface to a physical robot.
plot | display graphical representation of robot |
teach | drive the physical and graphical robots |
mirror | use the robot as a slave to drive graphics |
jmove | joint space motion of the physical robot |
cmove | Cartesian space motion of the physical robot |
plus all other methods of SerialLink
as per SerialLink class
superclass but right now it isn't
Machine, SerialLink, Link, DHFactor
Construct a RobotArm object
ra = RobotArm(L, m, options) is a robot object defined by a vector of Link objects L with a physical robot interface m represented by an object of class Machine.
'name', name | set robot name property |
'comment', comment | set robot comment property |
'manufacturer', manuf | set robot manufacturer property |
'base', base | set base transformation matrix property |
'tool', tool | set tool transformation matrix property |
'gravity', g | set gravity vector property |
'plotopt', po | set plotting options property |
SerialLink.SerialLink, Arbotix.Arbotix
Cartesian space move
RA.cmove(T) moves the robot arm to the pose specified by the homogeneous transformation (4x4).
RobotArm.jmove, Arbotix.setpath
Destroy the RobotArm object
RA.delete() closes and destroys the machine interface object and the RobotArm object.
Get the robot joint angles
q = RA.getq() is a vector (1xN) of robot joint angles.
Control the robot gripper
RA.gripper(C) sets the robot gripper according to C which is 0 for closed and 1 for open.
Joint space move
RA.jmove(qd) moves the robot arm to the configuration specified by the joint angle vector qd (1xN).
RA.jmove(qd, T) as above but the total move takes T seconds.
RobotArm.cmove, Arbotix.setpath
Mirror the robot pose to graphics
RA.mirror() places the robot arm in relaxed mode, and as it is moved by hand the graphical animation follows.
SerialLink.teach, SerialLink.plot
Teach the robot
RA.teach() invokes a simple GUI to allow joint space motion, as well as showing an animation of the robot on screen.
SerialLink.teach, SerialLink.plot
© 1990-2014 Peter Corke.