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Build the robot:

Link

SerialLink. name

SerialLink. plot

SerialLink.display

Kinematics:

SerialLink.A   

s = R.A(jlist, q)% returns the homogeneous matrix of the jlist joint, the joint variable is q

SerialLink.trchain


SerialLink.getpos

q = R.getpos(),% Returns the angle of each joint of the robot at the current position in the graph

SerialLink.fkine

T = R.fkine(q, options),% for positive kinematics, options can be set to ‘deg’

Inverse kinematics:

SerialLink.ikine6s

q = R.ikine6s (T),% seek the inverse kinematics of a 6-DOF robot with spherical wrist

SerialLink.ikine

q = R.ikine(T)% inverse kinematics

q = R.ikine(T, q0, options),% inverse kinematics, can be used for greater than or equal to6Articulated robot

SerialLink.ikine3

q = R.ikine3 (T),% Seeking inverse kinematics of a robot without a wrist joint (three degrees of freedom)

SerialLink.ikine_sym

q = R.IKINE  SYM (k, options),% finds the inverse kinematics where the end pose matrix is ​​a symbolic matrix type

Jacobian matrix:

SerialLink.jacob0

j0 = R.jacob0 (q, options),% seeking Jacobian matrix, in the world coordinate system

V = j0*QD

SerialLink.jacobn

jn = R.jacobn(q, options),% seeking Jacobian matrix, in the end manipulator space

V = jn*QD

SerialLink.jacob_dot

jdq = R.jacob_dot (q, qd),% find the differentiation of the Jacobian matrix

XDD = J(q)QDD + JDOT(q)qd

dynamics:

SerialLink.pay

tau = R.PAY(w, J),% According to the terminal load w and the Jacobian matrix j, find the joint force

tau = R.PAY(q, w, f),% According to the terminal load w and the joint variable is q Jacobian matrix, find the joint force. f = 0, world coordinate system. f = 1, the end joint coordinate system.

tau = J'w

SerialLink.paycap

 [wmax,J] = R.paycap(q, w, f, tlim),% Find the joint variable is q, the effective load is w, and the reference force that the joint can bear is tlim, the maximum allowable force wmax at the end, and the joint J that reaches the force limit at this time

SerialLink.payload

R.payload(m, p),% In the end joint coordinate system, the coordinate is at p, and the load with mass m is added

SerialLink.dyn ,% Back to kinetic parameters

SerialLink.rne

tau = R.rne(q, qd, qdd),% Inverse kinetics, to reach the predetermined (q, qd, qdd), the required force tau

tau = R.rne(q, qd, qdd, grav, fext),% Inverse dynamics, reaching the predetermined q, qd, qdd), the acceleration of gravity is grav, the end force is fext, and the force required by each joint tau

SerialLink.fdyn

[T,q,qd] = R.fdyn(T, torqfun)

% Time [0, T], return time, position, speed, joint initial position and speed are 0. The user-supplied function of the torque on the joint provides:

TAU = TORQFUN(T, Q, QD)

The% torque is a function of time, position, and speed.

[ti,q,qd] = R.fdyn(T, torqfun, q0, qd0)

In the torque function, you can customize the parameters:

[T,q,qd] = R.fdyn(T1, torqfun, q0, qd0, ARG1, ARG2, ...) 
TAU = TORQFUN(T, Q, QD, ARG1, ARG2, ...) 

For example, for PD control

function tau = mytorqfun(t, q, qd, qstar, P, D) 
tau = P*(qstar-q) + D*qd; 

The calling format is:

[t,q] = robot.fdyn(10, @mytorqfun, qstar, P, D)