hi.i want to creat ur10 in matlab .I use this code:
function URrobot = UR_robot()offset = [0 0 0 0 0 0];clear L% alpha A theta D sigma offset
L{1} = link([pi/2 0 0 0.1273 0 offset(1)], 'standard');L{2} = link([0 -0.612 0 0 0 offset(2)], 'standard');L{3} = link([0 -0.5723 0 0 0 offset(3)], 'standard');L{4} = link([pi/2 0 0 0.163941 0 offset(4)], 'standard');L{5} = link([-pi/2 0 0 0.1157 0 offset(5)], 'standard');L{6} = link([0 0 0 0.0922 0 offset(6)], 'standard');m_vect = [2.826, 11.8006, 4.9743 ,0.0000, 0.0000, 1.6098];L{1}.m = m_vect(1);L{2}.m = m_vect(2);L{3}.m = m_vect(3);L{4}.m = m_vect(4);L{5}.m = m_vect(5);L{6}.m = m_vect(6);%ZYYYZY
L{1}.r = [ 0.00008 0.00244 -0.037 ];L{2}.r = [ 0.2914 0.0609 0.0000]; %[ 0.00008 0.00244 0.38757 ];
L{3}.r = [ -0.0733 0.0384 0.0000]; %[ 0.0 0.0265 0.11993 ];
L{4}.r = [ 0.0 0.110949 0.01634 ];L{5}.r = [ 0.0 0.0018 0.11099 ];L{6}.r = [0.0085 0.0289 0.0000]; %[ 0.0 0.001159 0.0 ];
L{1}.I = [ 0.006325, 0.005698, 0.005726, 0, 0, 0 ];L{2}.I = [ 0.2465, 0.2452, 0.01536, 0, 0, 0 ];L{3}.I = [ 0.0942, 0.0938, 0.004331, 0, 0, 0 ];L{4}.I = [ 0.001033, 0.0009557, 0.0007397, 0, 0, 0 ];L{5}.I = [ 0.001033, 0.0007397, 0.0009557, 0, 0, 0 ];L{6}.I = [ 0.0001205, 0.0001918, 0.0001191, 0, 0, 0 ];L{1}.Jm = 0;L{2}.Jm = 0;L{3}.Jm = 0;L{4}.Jm = 0;L{5}.Jm = 0;L{6}.Jm = 0;L{1}.G = 0;L{2}.G = 0;L{3}.G = 0;L{4}.G = 0;L{5}.G = 0;L{6}.G = 0;% viscous friction (motor referenced)
L{1}.B = 1;L{2}.B = 1;L{3}.B = 1;L{4}.B = 1;L{5}.B = 1;L{6}.B = 1;% Coulomb friction (motor referenced)
L{1}.Tc = [ 1 1 ];L{2}.Tc = [ 1 1 ];L{3}.Tc = [ 1 1 ];L{4}.Tc = [ 1 1 ];L{5}.Tc = [ 1 1 ];L{6}.Tc = [ 1 1 ];URrobot = robot(L, 'UR', 'Unimation');clear LURrobot.name = 'UR';URrobot.manuf = 'Unimation';
but there is this error:
Cannot find an exact (case-sensitive) match for 'link'The closest match is: Link inC:\Users\digitalworld\Documents\MATLAB\Add-Ons\Toolboxes\Robotics Toolboxfor MATLAB(2)\code\robot\Link.m
how can I fix it?
Best Answer