ARTE工具箱时一款国外一所大学开发的Matlab机器人工具箱,该工具箱关注工业机器人机械臂的设计与开发。该工具箱有较好的开发环境与仿真环境!可以将机器人.stl形式的模型加载到matlab并进行相关参数的运算-建模-以及仿真示教。同时该工具箱还具有路径规划、碰撞检测功能,功能强大!
问题:
安装ARTE工具箱时可能遇到:一开始工具箱能够正常加载模型,以及teach功能,但是再次打开时候会提示:
出错 load_robot (第 75 行)
cd(configuration.libpath);
发现load_robot()函数并不能加载模型。
解决方法:
添加一下代码直接到function load_robot()下面就行了!
cd D:\matlab\toolbox\arte\arte %更改当前文件夹为默认搜索起点,路径设置为arte工具箱路径
global configuration robot
%base directory for the library
configuration.libpath = pwd();
configuration.delta_time = 0.5; %minimum time between two consecutive poses of the robot. Adjust this time from 0.01 to 0.2, according to your processor
configuration.time_delay = 0.1; %delay in seconds between frames when animating a robot. see animate.m for more information
configuration.min_resolution=0.0001;
%Number each of the figures to plot everything
configuration.figure.robot=1;
configuration.figure.q=2;
configuration.figure.qd=3;
configuration.figure.qdd=4;
%no lights created!
configuration.graphical.light= 0;