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Robotics_Toolbox >> Robotics_Toolbox > Link > linkTransf

linkTransf

Link transform matrix

Calling Sequence

T = linkTransf(L,Q)

Parameters

L :

Link object

Q :

vector of size (1xN) where N is the number of joints of the robot.

Description

T = linkTransf(L,Q) is the link homogeneous transformation matrix (4x4) corresponding to the link variable Q which is either the Denavit-Hartenberg parameter THETA (revolute) or D (prismatic).

Notes

See also

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