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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of robot</title> <meta name="keywords" content="robot"> <meta name="description" content="ROBOT Robot object constructor"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="../m2html.css"></head><body><a name="_top"></a><div><a href="../index.html">Home</a> > <a href="#">@robot</a> > robot.m</div><!--<table width="100%"><tr><td align="left"><a href="../index.html"><img alt="<" border="0" src="../left.png"> Master index</a></td><td align="right"><a href="index.html">Index for ./@robot <img alt=">" border="0" src="../right.png"></a></td></tr></table>--><h1>robot</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>ROBOT Robot object constructor</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="box"><strong>function r = robot(L, a1, a2, a3) </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre class="comment">ROBOT Robot object constructor ROBOT create a ROBOT object with no links ROBOT(robot) create a copy of an existing ROBOT object ROBOT(robot, LINK) replaces links for robot object ROBOT(LINK, ...) create from a cell array of LINK objects ROBOT(DH, ...) create from legacy DH matrix ROBOT(DYN, ...) create from legacy DYN matrix Optional trailing arguments are: Name robot type or name Manufacturer who built it Comment general comment If the legacy matrix forms are used the default name is the workspace matrix that held the data. See also: ROBOT/SUBSREF, ROBOT/SUBSASGN, LINK.</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2>This function calls:<ul style="list-style-image:url(../matlabicon.gif)"></ul>This function is called by:<ul style="list-style-image:url(../matlabicon.gif)"><li><a href="mtimes.html" class="code" title="function r2 = mtimes(r, l)">mtimes</a> MTIMES Multiply robot objects</li><li><a href="nofriction.html" class="code" title="function r2 = nofriction(r, varargin)">nofriction</a> NOFRICTION Return robot object with zero link friction</li><li><a href="perturb.html" class="code" title="function r2 = perturb(r, p)">perturb</a> PERTURB Return robot object with perturbed dynamic parameters</li><li><a href="plot.html" class="code" title="function rnew = plot(robot, tg, varargin)">plot</a> PLOT Graphical robot animation</li><li><a href="rne.html" class="code" title="function tau = rne(robot, varargin)">rne</a> RNE Compute inverse dynamics via recursive Newton-Euler formulation</li></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="../up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">%ROBOT Robot object constructor</span>0002 <span class="comment">%</span>0003 <span class="comment">% ROBOT create a ROBOT object with no links</span>0004 <span class="comment">% ROBOT(robot) create a copy of an existing ROBOT object</span>0005 <span class="comment">% ROBOT(robot, LINK) replaces links for robot object</span>0006 <span class="comment">% ROBOT(LINK, ...) create from a cell array of LINK objects</span>0007 <span class="comment">% ROBOT(DH, ...) create from legacy DH matrix</span>0008 <span class="comment">% ROBOT(DYN, ...) create from legacy DYN matrix</span>0009 <span class="comment">%</span>0010 <span class="comment">% Optional trailing arguments are:</span>0011 <span class="comment">% Name robot type or name</span>0012 <span class="comment">% Manufacturer who built it</span>0013 <span class="comment">% Comment general comment</span>0014 <span class="comment">%</span>0015 <span class="comment">% If the legacy matrix forms are used the default name is the workspace</span>0016 <span class="comment">% matrix that held the data.</span>0017 <span class="comment">%</span>0018 <span class="comment">% See also: ROBOT/SUBSREF, ROBOT/SUBSASGN, LINK.</span>0019 0020 <span class="comment">% Copyright (C) 1999-2008, by Peter I. Corke</span>0021 <span class="comment">%</span>0022 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0023 <span class="comment">%</span>0024 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0025 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0026 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0027 <span class="comment">% (at your option) any later version.</span>0028 <span class="comment">%</span>0029 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0030 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0031 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0032 <span class="comment">% GNU Lesser General Public License for more details.</span>0033 <span class="comment">%</span>0034 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0035 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0036 0037 <a name="_sub0" href="#_subfunctions" class="code">function r = robot(L, a1, a2, a3)</a>0038 0039 <span class="keyword">if</span> nargin == 00040 r.name = <span class="string">'noname'</span>;0041 r.manuf = <span class="string">''</span>;0042 r.comment = <span class="string">''</span>;0043 r.link = {};0044 r.n = 0;0045 r.mdh = 0;0046 r.gravity = [0; 0; 9.81];0047 r.base = eye(4,4);0048 r.tool = eye(4,4);0049 r.handle = []; <span class="comment">% graphics handles</span>0050 r.q = []; <span class="comment">% current joint angles</span>0051 r.plotopt = {};0052 r.lineopt = {<span class="string">'Color'</span>, <span class="string">'black'</span>, <span class="string">'Linewidth'</span>, 4};0053 r.shadowopt = {<span class="string">'Color'</span>, <span class="string">'black'</span>, <span class="string">'Linewidth'</span>, 1};0054 r = class(r, <span class="string">'robot'</span>);0055 <span class="keyword">elseif</span> isa(L, <span class="string">'robot'</span>)0056 r = L;0057 <span class="keyword">if</span> nargin == 2,0058 r.link = a1;0059 <span class="keyword">end</span>0060 <span class="keyword">else</span>0061 <span class="comment">% assume arguments are: name, manuf, comment</span>0062 <span class="keyword">if</span> nargin > 1,0063 r.name = a1;0064 <span class="keyword">else</span>0065 r.name = <span class="string">'noname'</span>;0066 <span class="keyword">end</span>0067 <span class="keyword">if</span> nargin > 2,0068 r.manuf = a2;0069 <span class="keyword">else</span>0070 r.manuf = <span class="string">''</span>;0071 <span class="keyword">end</span>0072 <span class="keyword">if</span> nargin > 3,0073 r.comment = a3;0074 <span class="keyword">else</span>0075 r.comment = <span class="string">''</span>;0076 <span class="keyword">end</span>0077 0078 <span class="keyword">if</span> isa(L, <span class="string">'double'</span>)0079 <span class="comment">% legacy matrix</span>0080 dh_dyn = L;0081 clear L0082 <span class="keyword">for</span> j=1:numrows(dh_dyn)0083 L{j} = link(dh_dyn(j,:));0084 <span class="keyword">end</span>0085 <span class="comment">% get name of variable</span>0086 r.name = inputname(1);0087 r.link = L;0088 <span class="keyword">elseif</span> iscell(L) & isa(L{1}, <span class="string">'link'</span>)0089 0090 r.link = L;0091 <span class="keyword">else</span>0092 error(<span class="string">'unknown type passed to robot'</span>);0093 <span class="keyword">end</span>0094 r.n = length(L);0095 0096 <span class="comment">% set the robot object mdh status flag</span>0097 mdh = [];0098 <span class="keyword">for</span> j = 1:length(L)0099 mdh = [mdh L{j}.mdh];0100 <span class="keyword">end</span>0101 <span class="keyword">if</span> all(mdh == 0)0102 r.mdh = mdh(1);0103 <span class="keyword">elseif</span> all (mdh == 1)0104 r.mdh = mdh(1);0105 <span class="keyword">else</span>0106 error(<span class="string">'robot has mixed D&H link conventions'</span>);0107 <span class="keyword">end</span>0108 0109 <span class="comment">% fill in default base and gravity direction</span>0110 r.gravity = [0; 0; 9.81];0111 r.base = eye(4,4);0112 r.tool = eye(4,4);0113 r.handle = [];0114 r.q = [];0115 r.plotopt = {};0116 r.lineopt = {<span class="string">'Color'</span>, <span class="string">'black'</span>, <span class="string">'Linewidth'</span>, 4};0117 r.shadowopt = {<span class="string">'Color'</span>, <span class="string">'black'</span>, <span class="string">'Linewidth'</span>, 1};0118 0119 r = class(r, <span class="string">'robot'</span>);0120 <span class="keyword">end</span></pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>?? 快捷鍵說明
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