show the axis of each joint
3 vues (au cours des 30 derniers jours)
Afficher commentaires plus anciens
Hey guys, is there a way to show the axis of every joint of my robot?
here is my code:
dhparams = [
0 0 d1 0
a1 pi/2 0 0
a2 0 0 0
a3 0 0 0
0 pi/2 d5 0
IPA 0 0 0 ] ;
robot = robotics.RigidBodyTree;
L1 = robotics.RigidBody('L1');
jnt1 = robotics.Joint('jnt1','revolute');
L2 = robotics.RigidBody('L2');
jnt2 = robotics.Joint('jnt2','fixed');
L3 = robotics.RigidBody('L3');
jnt3 = robotics.Joint('jnt3','revolute');
L4 = robotics.RigidBody('L4');
jnt4 = robotics.Joint('jnt4','revolute');
L5 = robotics.RigidBody('L5');
jnt5 = robotics.Joint('jnt5','revolute');
L6 = robotics.RigidBody('L6');
jnt6 = robotics.Joint('jnt6','revolute');
setFixedTransform(jnt1,dhparams(1,:),'dh');
L1.Joint = jnt1;
addBody(robot,L1,'base');
setFixedTransform(jnt2,dhparams(2,:),'dh');
setFixedTransform(jnt3,dhparams(3,:),'dh');
setFixedTransform(jnt4,dhparams(4,:),'dh');
setFixedTransform(jnt5,dhparams(5,:),'dh');
setFixedTransform(jnt6,dhparams(6,:),'dh');
L2.Joint = jnt2;
L3.Joint = jnt3;
L4.Joint = jnt4;
L5.Joint = jnt5;
L6.Joint = jnt6;
addBody(robot,L2,'L1');
addBody(robot,L3,'L2');
addBody(robot,L4,'L3');
addBody(robot,L5,'L4');
addBody(robot,L6,'L5');
show(robot);
When I use show(robot), I want it to show me the axis and origin of every joint, is it possible?
0 commentaires
Réponses (1)
Ali Murtatha Shuman
le 13 Nov 2019
Modifié(e) : Ali Murtatha Shuman
le 13 Nov 2019
You can see it if you zoom in, or you can divide the lengths in your DH-matrix with som factor to make the whole robot smaller.
But is there any way to make the axis bigger???
0 commentaires
Voir également
Catégories
En savoir plus sur Robotics dans Help Center et File Exchange
Produits
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!