robotics system toolbox ... Undefined function or variable

Dear,

Thank you in advance.

I tried to build robot object as follows.

% DH Parameters table for robot arm 
DH =[  152.4   -90 280   0;
      -289.8    90   0   0;
      1300.0   -90   0   0; 
       228.6    90   0   0;
      1080.0    90   0   0;
       168.9   -90   0   0;
       241.3     0   0   0];

% 
rbtree = robotics.RigidBodyTree;
body1 = robotics.RigidBody('b1');
jnt1 = robotics.Joint('jnt1','revolute');
setFixedTransform(jnt1,DH(1,:),'dh');
body1.Joint = jnt1;

addBody(rbtree,body1,'base')

and I got an error which

“Undefined function 'axang2tform' for input arguments of type 'double'”. 

Undefined function 'axang2tform' for input arguments of type 'double'.

Error in robotics.Joint/jointTransform (line 380)
                    TJ = axang2tform([v, q]);

Error in robotics.Joint/transformBodyToParent (line 497)
                  obj.jointTransform(q)*obj.ChildToJointTransform;

Error in robotics.RigidBodyTree/forwardKinematics (line 1092)
                Ttree{i} = body.Joint.transformBodyToParent(qi);

Error in robotics.RigidBodyTree/estimateWorkspace (line 1261)
                TT = obj.forwardKinematics(qh);

Error in robotics.RigidBodyTree/addBody (line 242)
            obj.estimateWorkspace();

Error in Test_Robotics_Toolbox (line 55)
addBody(rbtree,body1,'base')

I checked Matlab path and the path is correct. I suppose functions in ‘Coordinate Transformation’ are not accessible. May I ask your help?

Thank you

Seungkook Jun

Answer 1

[Walter Roberson]

You appear to have a corrupt version of the Robotics System Toolbox. I suggest reinstalling it.

That is the sort of error I might expect to see if a newer Robotics System Toolbox was copied to R2015a or earlier.

[Seungkook Jun]

Thank you very much. I will contact our system administrator.