M-File Help: Link View code for Link

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.

Methods

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

Properties (read/write)

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
offset kinematic: joint variable offset
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)

Notes

See also

SerialLink, Link.Link


Link.A

Link transform matrix

T = L.

Link.Link

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 = 'standard' for standard D&H parameters (default). 'modified' for modified D&H parameters. Notes:

Link.RP

Joint type

c = L.Link objects return a string of characters in joint order.

Link.char

String representation of parameters

s = L.Link objects return a string with one line per Link.display


Link.display

Display parameters

L.display link parameters in compact single line format. If L is a vector of display one line per element.

Notes

  • this method is invoked implicitly at the command line when the result of an expression is a Link object and the command has no trailing semicolon.

See also

Link.char, Link.dyn, SerialLink.showlink


Link.dyn

Display the inertial properties of link

L.Link objects show properties for each element.

Link.friction

Joint friction force

f = L.friction force/torque for link velocity qd

Link.islimit

Test joint limits

L.

Link.isprismatic

Test if joint is prismatic

L.Link.isrevolute


Link.isrevolute

Test if joint is revolute

L.Link.isprismatic


Link.nofriction

Remove friction

ln = L.nofriction('all') is a link object with the same parameters as L except all friction parameters are zero.

Link.set.I

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 set

Link.set.Tc

Set 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.

See also

Link.friction


Link.set.r

Set centre of gravity

L.r = r set the link centre of gravity (COG) to the 3-vector r.
 

© 1990-2011 Peter Corke.