M-File Help: DHFactor View code for DHFactor

DHFactor

Simplify symbolic link transform expressions

f = s = 'Rz(q1).Rx(q2).Ty(L1).Rx(q3).Tz(L2)'; indicates a rotation of q1 about the z-axis, then rotation of q2 about the x-axis, translation of L1 about the y-axis, rotation of q3 about the x-axis and translation of L2 along the z-axis.

Methods

display shows the simplified version in terms of Denavit-Hartenberg parameters
base shows the base transform
tool shows the tool transform
command returns a string that could be passed to the SerialLink() object constructor to generate a robot with these kinematics.

Example

>> s = 'Rz(q1).Rx(q2).Ty(L1).Rx(q3).Tz(L2)';
>> dh = DHFactor(s);
>> dh
DH(q1+90, 0, 0, +90).DH(q2, L1, 0, 0).DH(q3-90, L2, 0, 0).Rz(+90).Rx(-90).Rz(-90)
>> r = eval( dh.command() );

Notes

See also

SerialLink


 

© 1990-2011 Peter Corke.