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Robot and mRobot object initialization

The Robot and mRobot classes provide a default constructor that creates a 1 dof robot. A $n_{dof} \times 5$ matrix containing the kinematic parameters can be supplied upon initialization. A $n_{dof} \times 15$ matrix containing the kinematic and inertial parameters (as for the Robot class) can be supplied along with a $n_{dof} \times 4$ matrix providing the motors inertia, gear ratio and friction coefficients. A $n_{dof} \times 19$ matrix (kinematic, inertial and motor parameters) can also be used. The structure of the initialization matrix is:



Column Variable Description
     
1 $\sigma$ joint type (revolute=0, prismatic=1)
2 $\theta$ Denavit-Hartenberg parameter
3 $d$ Denavit-Hartenberg parameter
4 $a$ Denavit-Hartenberg parameter
5 $\alpha$ Denavit-Hartenberg parameter
6 $m$ mass of the link
7 $c_x$ center of mass along axis $x$
8 $c_y$ center of mass along axis $y$
9 $c_z$ center of mass along axis $z$
10 $I_{xx}$ element $xx$ of the inertia tensor matrix
11 $I_{xy}$ element $xy$ of the inertia tensor matrix
12 $I_{xz}$ element $xz$ of the inertia tensor matrix
13 $I_{yy}$ element $yy$ of the inertia tensor matrix
14 $I_{yz}$ element $yz$ of the inertia tensor matrix
15 $I_{zz}$ element $zz$ of the inertia tensor matrix
16 $I_m$ motor rotor inertia
17 $Gr$ motor gear ratio
18 $B$ motor viscous friction coefficient
19 $C_f$ motor Coulomb friction coefficient


next up previous contents
Next: constructors Up: The Robot and mRobot Previous: The Robot and mRobot   Contents
Richard Gourdeau 2004-07-06