📄 rtandemo.html

📁 Robot tool box - provides many functions that are useful in robotics including such things as kinem
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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"                "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head>  <title>Description of rtandemo</title>  <meta name="keywords" content="rtandemo">  <meta name="description" content="RTANDEMO Animation demo">  <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">  <meta name="generator" content="m2html &copy; 2003 Guillaume Flandin">  <meta name="robots" content="index, follow">  <link type="text/css" rel="stylesheet" href="../m2html.css"></head><body><a name="_top"></a><div><a href="../index.html">Home</a> &gt;  <a href="#">demos</a> &gt; rtandemo.m</div><!--<table width="100%"><tr><td align="left"><a href="../index.html"><img alt="<" border="0" src="../left.png">&nbsp;Master index</a></td><td align="right"><a href="index.html">Index for ./demos&nbsp;<img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>rtandemo</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>RTANDEMO Animation demo</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>This is a script file. </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre class="comment">RTANDEMO Animation demo</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2>This function calls:<ul style="list-style-image:url(../matlabicon.gif)"></ul>This function is called by:<ul style="list-style-image:url(../matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%RTANDEMO Animation demo</span>0002 0003 <span class="comment">%**************************animation********************************************</span>0004 figure(2)0005 echo on0006 clf0007 <span class="comment">%</span>0008 <span class="comment">% The trajectory demonstration has shown how a joint coordinate trajectory</span>0009 <span class="comment">% may be generated</span>0010     t = [0:.056:2]';     <span class="comment">% generate a time vector</span>0011     q = jtraj(qz, qr, t); <span class="comment">% generate joint coordinate trajectory</span>0012 <span class="comment">%</span>0013 <span class="comment">% the overloaded function plot() animates a stick figure robot moving</span>0014 <span class="comment">% along a trajectory.</span>0015 0016     plot(p560, q);0017 <span class="comment">% The drawn line segments do not necessarily correspond to robot links, but</span>0018 <span class="comment">% join the origins of sequential link coordinate frames.</span>0019 <span class="comment">%</span>0020 <span class="comment">% A small right-angle coordinate frame is drawn on the end of the robot to show</span>0021 <span class="comment">% the wrist orientation.</span>0022 <span class="comment">%</span>0023 <span class="comment">% A shadow appears on the ground which helps to give some better idea of the</span>0024 <span class="comment">% 3D object.</span>0025 0026 pause <span class="comment">% any key to continue</span>0027 <span class="comment">%</span>0028 <span class="comment">% We can also place additional robots into a figure.</span>0029 <span class="comment">%</span>0030 <span class="comment">% Let's make a clone of the Puma robot, but change its name and base location</span>0031 0032     p560_2 = p560;0033     p560_2.name = <span class="string">'another Puma'</span>;0034     p560_2.base = transl(-0.5, 0.5, 0);0035     hold on0036     plot(p560_2, q);0037 pause <span class="comment">% any key to continue</span>0038 0039 <span class="comment">% We can also have multiple views of the same robot</span>0040     clf0041     plot(p560, qr);0042     figure0043     plot(p560, qr);0044     view(40,50)0045     plot(p560, q)0046 pause <span class="comment">% any key to continue</span>0047 <span class="comment">%</span>0048 <span class="comment">% Sometimes it's useful to be able to manually drive the robot around to</span>0049 <span class="comment">% get an understanding of how it works.</span>0050 0051     drivebot(p560)0052 <span class="comment">%</span>0053 <span class="comment">% use the sliders to control the robot (in fact both views).  Hit the red quit</span>0054 <span class="comment">% button when you are done.</span>0055 echo off</pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> &copy; 2003</address></body></html>
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