Robotics toolbox study 1

启用工具箱：在命令栏输入startup_rvc

常用函数：

1.Link

eg:L = Link([0 1.2 0.3 pi/2]); %Link(theta, d,a,alpha)

theta     kinematic: joint angle
d          kinematic: link offset

a          kinematic: link length
alpha   kinematic: link twist

 L = Link('revolute', 'd', 1.2, 'a', 0.3, 'alpha', pi/2);

revolute      for a revolute joint (default)

 L = Revolute('d', 1.2, 'a', 0.3, 'alpha', pi/2);

Revolute   construct a revolute joint+link using standard DH

 三者结果一样。

create robot link object

L=Link( );is a Link object with default parameters.

L1=Link()
 
L1 = 
Revolute(std): theta=q, d=0, a=0, alpha=0, offset=0

L=Link(LNK); is a Link object that is a deep copy of the link object LNK and has type Link, even if LNK is a subclass.

 L2 = Revolute('d', 1.2, 'a', 0.3, 'alpha', pi/2);
>> L3=Link(L2);

运行后L3和L2有一样的参数

 L = Link(OPTIONS)  is a link object with the kinematic and dynamic parameters specified by the key/value pairs.（最常用）

Options：

   % 'theta',TH   joint angle, if not specified joint is revolute
            % 'd',D        joint extension, if not specified joint is prismatic
            % 'a',A        joint offset (default 0)
            % 'alpha',A    joint twist (default 0)
            % 'standard'   defined using standard D&H parameters (default).
            % 'modified'   defined using modified D&H parameters.
            % 'offset',O   joint variable offset (default 0)
            % 'qlim',L     joint limit (default [])
            % 'I',I        link inertia matrix (3x1, 6x1 or 3x3)
            % 'r',R        link centre of gravity (3x1)
            % 'm',M        link mass (1x1)
            % 'G',G        motor gear ratio (default 0)
            % 'B',B        joint friction, motor referenced (default 0)
            % 'Jm',J       motor inertia, motor referenced (default 0)
            % 'Tc',T       Coulomb friction, motor referenced (1x1 or 2x1), (default [0 0])
            % 'revolute'   for a revolute joint (default)
            % 'prismatic'  for a prismatic joint 'p'
            % 'standard'   for standard D&H parameters (default).
            % 'modified'   for modified D&H parameters.
            % 'sym'        consider all parameter values as symbolic not numeric

Notes:

• It is an error to specify both 'theta'and 'd'
• The joint variable, either theta or d, is provided as an argument to the A() method.
• The link inertia matrix (3×3) is symmetric and can be specified by giving a 3×3 matrix, the diagonal elements [Ixx Iyy Izz], or the moments and products of inertia [Ixx Iyy Izz Ixy Iyz Ixz].
• All friction quantities are referenced to the motor not the load.
• Gear ratio is used only to convert motor referenced quantities such as friction and interia to the link frame.

the tobotics also support the old syntax

Old syntax:

L = Link(DH, OPTIONS) is a link object using the specified kinematic convention and with parameters:

• DH = [THETA D A ALPHA SIGMA OFFSET] where SIGMA=0 for a revolute and 1 for a prismatic joint; and OFFSET is a constant displacement between the user joint variable and the value used by the kinematic model.
• DH = [THETA D A ALPHA SIGMA] where OFFSET is zero.
•  DH = [THETA D A ALPHA], joint is assumed revolute and OFFSET is zero.

Options:

'standard'        for standard D&H parameters (default).

'modified'        for modified D&H parameters.

'revolute'        for a revolute joint, can be abbreviated to 'r'(default)

'prismatic'        for a prismatic joint, can be abbreviated to 'p'

Notes:

• The parameter D is unused in a revolute joint, it is simply a placeholder in the vector and the value given is ignored.
• The parameter THETA is unused in a prismatic joint, it is simply a placeholder in the vector and the value given is ignored.

Link.char

Convert to string

s = L.char() is a string showing link parameters in a compact single line format. If L is a vector of Link objects return a string with one line per Link

L3.char

ans =

    'Revolute(std): theta=q, d=1.2, a=0.3, alpha=1.5708, offset=0'

Link.display

Display parameters

L.display() displays the link parameters in compact single line format. If L is a vector of Link objects displays one line per element.

 L3.display
 
L3 = 
Revolute(std): theta=q, d=1.2, a=0.3, alpha=1.5708, offset=0

2.SerialLink

bot = SerialLink([L1 L2], 'name', 'my robot');

bot.n;%查看连杆数目
 bot.fkine([0.1 0.2]);%前向运动学
 bot.plot([0.1 0.2]);%绘制机器人

Five_Link=SerialLink([L(1),L(2),L(3),L(4),L(5)]);

clear;clc
startup_rvc
L(1)=Link([0 0 0 0],'modified');
L(2)=Link([0 0.5 0.2 0],'modified');
L(3)=Link([0 0.6 0.3 pi/4],'modified');
L(4)=Link([0 4 0.8 pi/2],'modified');
L(5)=Link([1 0.6 1 pi],'modified');
Five_Link=SerialLink([L(1),L(2),L(3),L(4),L(5)]);
Five_Link.display
Five_Link.teach