M-File Help: Link | View code for Link |
Robot manipulator Link class
A Link([theta d a alpha]) is a link object with the specified kinematic parameters theta, d, a and alpha.A | return link transform (A) matrix |
RP | return joint type: 'R' or 'P' |
friction | return friction force |
nofriction | return Link object with friction parameters set to zero |
dyn | display link dynamic parameters |
islimit | true if joint exceeds soft limit |
isrevolute | true if joint is revolute |
isprismatic | true if joint is prismatic |
nofriction | remove joint friction |
display | print the link parameters in human readable form |
char | convert the link parameters to human readable string |
alpha | kinematic: link twist |
a | kinematic: link twist |
theta | kinematic: link twist |
d | kinematic: link twist |
sigma | kinematic: 0 if revolute, 1 if prismatic |
mdh | kinematic: 0 if standard D&H, else 1 |
qlim | kinematic: joint variable limits [min max] |
m | dynamic: link mass |
r | dynamic: link COG wrt link coordinate frame 3x1 |
I | dynamic: link inertia matrix, symmetric 3x3, about link COG. |
B | dynamic: link viscous friction (motor referred) |
Tc | dynamic: link Coulomb friction |
G | actuator: gear ratio |
Jm | actuator: motor inertia (motor referred) |
Link transform matrix
T = L.Create robot link object
This is class constructor function which has several call signatures. L = Link object with default parameters. L = Link object that is a deep copy of the object l1. L =Joint type
c = L.Link objects return a string of characters in joint order.String representation of parameters
s = L.Link objects return a string with one line per Link.displayDisplay parameters
L.display link parameters in compact single line format. If L is a vector of display one line per element.Link.char, Link.dyn, SerialLink.showlink
Display the inertial properties of link
L.Link objects show properties for each element.Joint friction force
f = L.friction force/torque for link velocity qdTest joint limits
L.Test if joint is prismatic
L.Link.isrevoluteTest if joint is revolute
L.Link.isprismaticRemove friction
ln = L.nofriction('all') is a link object with the same parameters as L except all friction parameters are zero.Set link inertia
L.I = [Ixx Iyy Izz] set Link inertia to a symmetric matrix with specified intertia and product of intertia elements. L.I = M setSet Coulomb friction
L.Tc = F set Coulomb friction parameters to [FP FM], for a symmetric Coulomb friction model. L.Tc = [FP FM] set Coulomb friction to [FP FM], for an asymmetric Coulomb friction model. FP>0 and FM<0.Set centre of gravity
L.r = r set the link centre of gravity (COG) to the 3-vector r.© 1990-2011 Peter Corke.