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This function takes in link lengths and joint limits from the user and outputs a robot object. It defines each link of the robot by specifying the joint offsets and link lengths. It then sets the joint limits for each link based on the values passed into the function. Finally, it creates a SerialLink object representing the robot and returns it.

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Talha Yousuf
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47 views

Project Report

This function takes in link lengths and joint limits from the user and outputs a robot object. It defines each link of the robot by specifying the joint offsets and link lengths. It then sets the joint limits for each link based on the values passed into the function. Finally, it creates a SerialLink object representing the robot and returns it.

Uploaded by

Talha Yousuf
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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R M C P

Talha Yousuf
December 13, 2018

Listings
1 De ining the robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
This function takes link lengths and joint limits from the user and outputs a robot object.

Listing 1: De ining the robot


1 function robot_object = define_robot (L1_length , L2_length , L3_length ,
L4_length , qlim_1 ,qlim_2 ,qlim_3 , qlim_4 )
2 % Take link lengths and return a Robot object
3 % Find the actual shape of robot in this folder in order to fully
4 % understand the function
5
6 % L1_length :
7 % Length of link 1
8 % L2_length :
9 % Length of link 2
10 % L3_length :
11 % Length of link 3
12 % qlim_1 :
13 % Joint limits of joint_1 as array : [ -180 180]*( pi /180)
14 % qlim_2 :
15 % Joint limits of joint_2 as row array
16 % qlim_3 :
17 % Joint limits of joijnt_3 as row array
18
19 L(1)=Link ([0 L1_length 0 pi /2]);
20 L(2)=Link ([0 0 L2_length 0]);
21 L(3)=Link ([0 0 L3_length 0]);
22 L(4)=Link ([0 0 L4_length 0]);
23
24 L(1).qlim =( pi /180) * qlim_1 ;
25 L(2).qlim =( pi /180) * qlim_2 ;
26 L(3).qlim =( pi /180) * qlim_3 ;
27 L(4).qlim =( pi /180) * qlim_4 ;
28
29 robot_object = SerialLink (L);
30 robot_object .name='Robot ';
31
32 end

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