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SerialLink

Serial-link robot class

Introduction

A concrete class that represents a serial-link arm-type robot. Each link and joint in the chain is described by a Link-class object using Denavit-Hartenberg parameters (standard or modified).

Properties (read/write)

name robot name
manuf robot manufacturer
comment robot comment
links list containing the robot Link objects
gravity gravity vector
base base transformation matrix
tool tool transformation matrix
offset joint variable offsets
handles currently unused
lineopt currently unused
shadowopt currently unused
plotopt currently unused
qlim link limits (currently unused)
q joint variables (currently unused)

Properties (read only)

n number of robot joints
mdh 0 if standard D&H convention is used, otherwise 1 for modified D&H
config String specifying the robot configuration: R indicates revolute joints, P indicates prismatic joints

Calling Sequence

R = SerialLink()
R = SerialLink(list(L1,L2..), OPTIONS)
R = SerialLink(R1, OPTIONS)
R = SerialLink(list(R1,R2..), OPTIONS)

Description

R = SerialLink() is a robot object with default parameters.

R = SerialLink(list(L1,L2..), OPTIONS) is a robot object that is a concatenation of link objects L1, L2,... .

R = SerialLink(R1, OPTIONS) is a robot object that is a deep copy of the robot object R1.

R = SerialLink(list(R1,R2..), OPTIONS) is a robot object that is a concatenation of robot objects R1, R2,... .

Options

OPTIONS ='name', robot_name:

set the robot name (string)

OPTIONS ='manuf', manufacturer_name:

set the manufacturer name (string)

OPTIONS ='comment', comment:

set a comment (string)

OPTIONS ='gravity', gravity_vector:

set a (3x1) gravity vector

OPTIONS ='base', base_matrix:

set the base-to-link-0 homogeneous transformation matrix (4x4)

OPTIONS ='tool', tool_matrix:

set the link-n-to-tool homogeneous transformation matrix (4x4)

OPTIONS ='offset', links_offset_vector:

set the links offset vector (1xn)

OPTIONS ='qlim', joint_limits:

set the joint limits matrix (nx2)

OPTIONS ='q', joint_vector:

set the joints vector (1xn) (currently unused)

Examples

// A serial link manipulator comprises a series of links.  Each link is described
// by four Denavit-Hartenberg parameters.
//
// Let's define a simple 2 link manipulator.  The first link is

L1 = Link('d', 0, 'a', 1, 'alpha', %pi/2)
L2 = Link('d', 0, 'a', 1, 'alpha', 0)

// join these two links into a serial-link manipulator
L = list(L1,L2)
Robot = SerialLink(L, 'name', 'my robot')

// change the default gravity vector so as to work into the outer space
Robot = SerialLink(L, 'gravity', [0; 0; 0])

// make a copy of the robot
Robot1 = SerialLink(Robot)

// or alternatively
Robot1 = Robot

// concatenate two robots
R = list(Robot, Robot1)
Robot2 = SerialLink(R)

// or alternatively
Robot2 = Robot * Robot1

Notes

See also

Authors


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