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PrismaticMDH

Robot manipulator prismatic link class for MDH convention

A subclass of the Link class for a prismatic joint defined using modified Denavit-Hartenberg parameters: holds all information related to a robot link such as kinematics parameters, rigid-body inertial parameters, motor and transmission parameters.

Constructors

PrismaticMDH construct a prismatic joint+link using modified DH

Information/display methods

display print the link parameters in human readable form
dyn display link dynamic parameters
type joint type: 'R' or 'P'

Conversion methods

char convert to string

Operation methods

A link transform matrix
friction friction force
nofriction Link object with friction parameters set to zero%

Testing methods

islimit test if joint exceeds soft limit
isrevolute test if joint is revolute
isprismatic test if joint is prismatic
issym test if joint+link has symbolic parameters

Overloaded operators

+ concatenate links, result is a SerialLink object

Properties (read/write)

theta kinematic: joint angle
d kinematic: link offset
a kinematic: link length
alpha kinematic: link twist
jointtype kinematic: 'R' if revolute, 'P' 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

References

See also

Link, Prismatic, RevoluteMDH, SerialLink


PrismaticMDH.PrismaticMDH

Create prismatic robot link object using MDH notaton

L = PrismaticMDH(options) is a prismatic link object with the kinematic and dynamic parameters specified by the key/value pairs using the modified Denavit-Hartenberg conventions.

Options

'theta', TH joint angle
'a', A joint offset (default 0)
'alpha', A joint twist (default 0)
'standard' defined using standard D&H parameters (default).
'modified' defined using modified D&H parameters.
'offset', O joint variable offset (default 0)
'qlim', L joint limit (default [])
'I', I link inertia matrix (3x1, 6x1 or 3x3)
'r', R link centre of gravity (3x1)
'm', M link mass (1x1)
'G', G motor gear ratio (default 1)
'B', B joint friction, motor referenced (default 0)
'Jm', J motor inertia, motor referenced (default 0)
'Tc', T Coulomb friction, motor referenced (1x1 or 2x1), (default [0 0])
'sym' consider all parameter values as symbolic not numeric

Notes

See also

Link, Prismatic, RevoluteMDH


 

© 1990-2014 Peter Corke.