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VREP_arm

Mirror of V-REP robot arm object

Mirror objects are MATLAB objects that reflect the state of objects in the V-REP environment. Methods allow the V-REP state to be examined or changed.

This is a concrete class, derived from VREP_mirror, for all V-REP robot arm objects and allows access to joint variables.

Methods throw exception if an error occurs.

Example

vrep = VREP();
arm = vrep.arm('IRB140');
q = arm.getq();
arm.setq(zeros(1,6));
arm.setpose(T);  % set pose of base

Methods

getq get joint coordinates
setq set joint coordinates
setjointmode set joint control parameters
animate animate a joint coordinate trajectory
teach graphical teach pendant

Superclass methods (VREP_obj)

getpos get position of object
setpos set position of object
getorient get orientation of object
setorient set orientation of object
getpose get pose of object given
setpose set pose of object

can be used to set/get the pose of the robot base.

Superclass methods (VREP_mirror)

getname get object name
setparam_bool set object boolean parameter
setparam_int set object integer parameter
setparam_float set object float parameter
getparam_bool get object boolean parameter
getparam_int get object integer parameter
getparam_float get object float parameter

Properties

n Number of joints

See also

VREP_mirror, VREP_obj, VREP_arm, VREP_camera, VREP_hokuyo


VREP_arm.VREP_arm

Create a robot arm mirror object

arm = VREP_arm(name, options) is a mirror object that corresponds to the robot arm named name in the V-REP environment.

Options

'fmt', F Specify format for joint object names (default '%s_joint%d')

Notes

See also

VREP.arm


VREP_arm.animate

Animate V-REP robot

R.animate(qt, options) animates the corresponding V-REP robot with configurations taken from consecutive rows of qt (MxN) which represents an M-point trajectory and N is the number of robot joints.

Options

'delay', D Delay (s) betwen frames for animation (default 0.1)
'fps', fps Number of frames per second for display, inverse of 'delay' option
'[no]loop' Loop over the trajectory forever

See also

SerialLink.plot


VREP_arm.getq

Get joint angles of V-REP robot

ARM.getq() is the vector of joint angles (1xN) from the corresponding robot arm in the V-REP simulation.

See also

VREP_arm.setq


VREP_arm.setjointmode

Set joint mode

ARM.setjointmode(m, C) sets the motor enable m (0 or 1) and motor control C (0 or 1) parameters for all joints of this robot arm.


VREP_arm.setq

Set joint angles of V-REP robot

ARM.setq(q) sets the joint angles of the corresponding robot arm in the V-REP simulation to q (1xN).

See also

VREP_arm.getq


VREP_arm.setqt

Set joint angles of V-REP robot

ARM.setq(q) sets the joint angles of the corresponding robot arm in the V-REP simulation to q (1xN).


VREP_arm.teach

Graphical teach pendant

R.teach(options) drive a V-REP robot by means of a graphical slider panel.

Options

'degrees' Display angles in degrees (default radians)
'q0', q Set initial joint coordinates

Notes

See also

SerialLink.plot


 

© 1990-2014 Peter Corke.