Hi all,
I am using the rotics system toolbox and I want to create a robot , when I display my robot, there are no frames unlike the tutorial.
Does anyone know what is happening please and how I can fix it
here is my code:
clear all; clc;dh=[0 60 0 pi/2; 0 0 -315 0; 0 0 -310 0 ; 0 0 -75 -pi/2];body1 = rigidBody('body1');jnt1 = rigidBodyJoint('jnt1','revolute');jnt1.HomePosition = 0;tform = dh2homogene(dh(1,:)); % function that gets the homegenous transformation given the denavit hartenberg table/row
setFixedTransform(jnt1,tform);body1.Joint = jnt1;robot = rigidBodyTree;% body1.Mass = .5;
% body1.CenterOfMass = [0.5 0 0];% p/r au centre du link selon (x,y,z)
% body1.Inertia = [0.167 0.001 0.167 0 0 0];
%
addBody(robot,body1,'base')body2 = rigidBody('body2');jnt2 = rigidBodyJoint('jnt2','revolute');jnt2.HomePosition = pi/6; % User defined
tform2 = dh2homogene(dh(2,:)); % User definedsetFixedTransform(jnt2,tform2);body2.Joint = jnt2;% body2.Mass = .585;
% body2.CenterOfMass = [0 0 0];% p/r au centre du link selon (x,y,z)
% body2.Inertia = 0.0001*[4 4 4 0 0 0];
addBody(robot,body2,'body1'); % Add body2 to body1
body3 = rigidBody('body3');body4 = rigidBody('body4');jnt3 = rigidBodyJoint('jnt3','revolute');jnt4 = rigidBodyJoint('jnt4','revolute');tform3 = dh2homogene(dh(3,:)); % User definedtform4 = dh2homogene(dh(4,:)); % User definedsetFixedTransform(jnt3,tform3);setFixedTransform(jnt4,tform4);jnt3.HomePosition = 0; % User definedbody3.Joint = jnt3;body4.Joint = jnt4;% % adding dynamics props
% % % body3.Mass = .55;
% body3.CenterOfMass = [0 0 0];% p/r au centre du link selon (x,y,z)
% body3.Inertia = 0.0001*[4 4 4 0 0 0];
% % body4.Mass = .032;
% body4.CenterOfMass = [0 0 0];% p/r au centre du link selon (x,y,z)
% body4.Inertia = 0.0001*[4 4 4 0 0 0];
addBody(robot,body3,'body2'); % Add body3 to body2
addBody(robot,body4,'body3'); % Add body4 to body3
bodyEndEffector = rigidBody('endeffector');tform5 = trvec2tform([0, 0, 0]); % User definedsetFixedTransform(bodyEndEffector.Joint,tform5);addBody(robot,bodyEndEffector,'body4');config = homeConfiguration(robot);% tform = getTransform(robot,config,'endeffector','base');
% save('robot')
show(robot)
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