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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 link</title> <meta name="keywords" content="link"> <meta name="description" content="LINK create a new LINK object"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 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> > <a href="#">@link</a> > link.m</div><!--<table width="100%"><tr><td align="left"><a href="../index.html"><img alt="<" border="0" src="../left.png"> Master index</a></td><td align="right"><a href="index.html">Index for ./@link <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>link</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>LINK create a new LINK object</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>function l = link(dh, convention) </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">LINK create a new LINK object A LINK object holds all information related to a robot link such as kinematics of the joint, rigid-body inertial parameters, motor and transmission parameters. L = LINK L = LINK(link) Create a default link, or a clone of the passed link. A = LINK(q) Compute the link transform matrix for the link, given the joint variable q. L = LINK([alpha A theta D]) L =LINK([alpha A theta D sigma]) L =LINK([alpha A theta D sigma offset]) L =LINK([alpha A theta D], CONVENTION) L =LINK([alpha A theta D sigma], CONVENTION) L =LINK([alpha A theta D sigma offset], CONVENTION) If sigma or offset are not provided they default to zero. Offset is a constant amount added to the joint angle variable before forward kinematics and is useful if you want the robot to adopt a 'sensible' pose for zero joint angle configuration. The optional CONVENTION argument is 'standard' for standard D&H parameters or 'modified' for modified D&H parameters. If not specified the default 'standard'. Handling the different kinematic conventions is now hidden within the LINK object. Conceivably all sorts of stuff could live in the LINK object such as graphical models of links and so on. For robot models prior to Toolbox release 5 (pre Matlab objects) the following object constructors are provided. L = LINK(DYN_ROW) create from row of legacy DYN matrix L = LINK(DYN_ROW, CONVENTION) create from row of legacy DYN matrix SEE ALSO: LINK/SUBSREF, LINK/SUBSASGN, <a href="showlink.html" class="code" title="function showlink(l)">SHOWLINK</a>, ROBOT.</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)"><li><a href="nofriction.html" class="code" title="function l2 = nofriction(l, only)">nofriction</a> NOFRICTION Return link object with zero friction</li></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">%LINK create a new LINK object</span>0002 <span class="comment">%</span>0003 <span class="comment">% A LINK object holds all information related to a robot link such as</span>0004 <span class="comment">% kinematics of the joint, rigid-body inertial parameters, motor and</span>0005 <span class="comment">% transmission parameters.</span>0006 <span class="comment">%</span>0007 <span class="comment">% L = LINK</span>0008 <span class="comment">% L = LINK(link)</span>0009 <span class="comment">%</span>0010 <span class="comment">% Create a default link, or a clone of the passed link.</span>0011 <span class="comment">%</span>0012 <span class="comment">% A = LINK(q)</span>0013 <span class="comment">%</span>0014 <span class="comment">% Compute the link transform matrix for the link, given the joint</span>0015 <span class="comment">% variable q.</span>0016 <span class="comment">%</span>0017 <span class="comment">% L = LINK([alpha A theta D])</span>0018 <span class="comment">% L =LINK([alpha A theta D sigma])</span>0019 <span class="comment">% L =LINK([alpha A theta D sigma offset])</span>0020 <span class="comment">% L =LINK([alpha A theta D], CONVENTION)</span>0021 <span class="comment">% L =LINK([alpha A theta D sigma], CONVENTION)</span>0022 <span class="comment">% L =LINK([alpha A theta D sigma offset], CONVENTION)</span>0023 <span class="comment">%</span>0024 <span class="comment">% If sigma or offset are not provided they default to zero. Offset is a</span>0025 <span class="comment">% constant amount added to the joint angle variable before forward kinematics</span>0026 <span class="comment">% and is useful if you want the robot to adopt a 'sensible' pose for zero</span>0027 <span class="comment">% joint angle configuration.</span>0028 <span class="comment">%</span>0029 <span class="comment">% The optional CONVENTION argument is 'standard' for standard D&H parameters</span>0030 <span class="comment">% or 'modified' for modified D&H parameters. If not specified the default</span>0031 <span class="comment">% 'standard'.</span>0032 <span class="comment">% Handling the different kinematic conventions is now hidden within the LINK</span>0033 <span class="comment">% object.</span>0034 <span class="comment">%</span>0035 <span class="comment">% Conceivably all sorts of stuff could live in the LINK object such as</span>0036 <span class="comment">% graphical models of links and so on.</span>0037 <span class="comment">%</span>0038 <span class="comment">% For robot models prior to Toolbox release 5 (pre Matlab objects) the</span>0039 <span class="comment">% following object constructors are provided.</span>0040 <span class="comment">%</span>0041 <span class="comment">% L = LINK(DYN_ROW) create from row of legacy DYN matrix</span>0042 <span class="comment">% L = LINK(DYN_ROW, CONVENTION) create from row of legacy DYN matrix</span>0043 <span class="comment">%</span>0044 <span class="comment">% SEE ALSO: LINK/SUBSREF, LINK/SUBSASGN, SHOWLINK, ROBOT.</span>0045 0046 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0047 <span class="comment">%</span>0048 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0049 <span class="comment">%</span>0050 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0051 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0052 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0053 <span class="comment">% (at your option) any later version.</span>0054 <span class="comment">%</span>0055 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0056 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0057 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0058 <span class="comment">% GNU Lesser General Public License for more details.</span>0059 <span class="comment">%</span>0060 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0061 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0062 0063 <a name="_sub0" href="#_subfunctions" class="code">function l = link(dh, convention)</a>0064 0065 0066 <span class="keyword">if</span> nargin == 0,0067 <span class="comment">% create an 'empty' link</span>0068 l.alpha = 0;0069 l.A = 0;0070 l.theta = 0;0071 l.D = 0;0072 l.sigma = 0;0073 l.mdh = 0;0074 l.offset = 0;0075 0076 <span class="comment">% it's a legacy DYN matrix</span>0077 l.m = [];0078 l.r = [];0079 v = [];0080 l.I = [];0081 l.Jm = [];0082 l.G = [];0083 l.B = 0;0084 l.Tc = [0 0];0085 l.qlim = [];0086 0087 l = class(l, <span class="string">'link'</span>);0088 0089 <span class="keyword">elseif</span> isa(dh, <span class="string">'link'</span>)0090 <span class="comment">% clone passed link</span>0091 l = dh;0092 <span class="keyword">elseif</span> length(dh) <= 6,0093 <span class="comment">% legacy DH matrix</span>0094 <span class="comment">% link([alpha A theta D sigma])</span>0095 0096 <span class="keyword">if</span> length(dh) < 4,0097 error(<span class="string">'must provide <alpha A theta D> params'</span>);0098 <span class="keyword">end</span>0099 l.alpha = dh(1);0100 l.A = dh(2);0101 l.theta = dh(3);0102 l.D = dh(4);0103 l.sigma = 0;0104 <span class="keyword">if</span> length(dh) >= 5,0105 l.sigma = dh(5);0106 <span class="keyword">end</span>0107 <span class="keyword">if</span> nargin > 10108 <span class="keyword">if</span> strncmp(convention, <span class="string">'mod'</span>, 3) == 1,0109 l.mdh = 1;0110 <span class="keyword">elseif</span> strncmp(convention, <span class="string">'sta'</span>, 3) == 1,0111 l.mdh = 0;0112 <span class="keyword">else</span>0113 error(<span class="string">'convention must be modified or standard'</span>);0114 <span class="keyword">end</span>0115 <span class="keyword">else</span>0116 l.mdh = 0; <span class="comment">% default to standard D&H</span>0117 <span class="keyword">end</span>0118 l.offset = 0;0119 <span class="keyword">if</span> length(dh) >= 6,0120 l.offset = dh(6);0121 <span class="keyword">end</span>0122 0123 <span class="comment">% we know nothing about the dynamics</span>0124 l.m = [];0125 l.r = [];0126 v = [];0127 l.I = [];0128 l.Jm = [];0129 l.G = [];0130 l.B = 0;0131 l.Tc = [0 0];0132 l.qlim = [];0133 0134 l = class(l, <span class="string">'link'</span>);0135 <span class="keyword">else</span>0136 <span class="comment">% legacy DYN matrix</span>0137 0138 l.alpha = dh(1);0139 l.A = dh(2);0140 l.theta = dh(3);0141 l.D = dh(4);0142 <span class="keyword">if</span> length(dh) == 4,0143 l.sigma = 0;0144 <span class="keyword">else</span>0145 l.sigma = dh(5);0146 <span class="keyword">end</span>0147 l.mdh = 0; <span class="comment">% default to standard D&H</span>0148 l.offset = 0;0149 0150 <span class="comment">% it's a legacy DYN matrix</span>0151 l.m = dh(6);0152 l.r = dh(7:9)'; <span class="comment">% a column vector</span>0153 v = dh(10:15);0154 l.I = [ v(1) v(4) v(6)0155 v(4) v(2) v(5)0156 v(6) v(5) v(3)];0157 <span class="keyword">if</span> length(dh) > 15,0158 l.Jm = dh(16);0159 <span class="keyword">end</span>0160 <span class="keyword">if</span> length(dh) > 16,0161 l.G = dh(17);0162 <span class="keyword">else</span>0163 l.G = 1;0164 <span class="keyword">end</span>0165 <span class="keyword">if</span> length(dh) > 17,0166 l.B = dh(18);0167 <span class="keyword">else</span>0168 l.B = 0.0;0169 <span class="keyword">end</span>0170 <span class="keyword">if</span> length(dh) > 18,0171 l.Tc = dh(19:20);0172 <span class="keyword">else</span>0173 l.Tc = [0 0];0174 <span class="keyword">end</span>0175 l.qlim = [];0176 <span class="keyword">if</span> nargin > 10177 <span class="keyword">if</span> strncmp(convention, <span class="string">'mod'</span>, 3) == 1,0178 l.mdh = 1;0179 <span class="keyword">elseif</span> strncmp(convention, <span class="string">'sta'</span>, 3) == 1,0180 l.mdh = 0;0181 <span class="keyword">else</span>0182 error(<span class="string">'convention must be modified or standard'</span>);0183 <span class="keyword">end</span>0184 <span class="keyword">else</span>0185 l.mdh = 0; <span class="comment">% default to standard D&H</span>0186 <span class="keyword">end</span>0187 l = class(l, <span class="string">'link'</span>);0188 <span class="keyword">end</span></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> © 2003</address></body></html>⌨️ 快捷键说明
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