The Robot and mRobot classes provide a default
constructor that creates a 1 dof robot. A
matrix
containing the kinematic parameters can be supplied upon
initialization. A
matrix containing the kinematic
and inertial parameters (as for the Robot class) can be
supplied along with a
matrix providing the motors
inertia, gear ratio and friction coefficients. A
matrix (kinematic, inertial and motor parameters) can also be used.
The structure of the initialization matrix is:
Column | Variable | Description |
1 | ![]() |
joint type (revolute=0, prismatic=1) |
2 | ![]() |
Denavit-Hartenberg parameter |
3 | ![]() |
Denavit-Hartenberg parameter |
4 | ![]() |
Denavit-Hartenberg parameter |
5 | ![]() |
Denavit-Hartenberg parameter |
6 | ![]() |
mass of the link |
7 | ![]() |
center of mass along axis ![]() |
8 | ![]() |
center of mass along axis ![]() |
9 | ![]() |
center of mass along axis ![]() |
10 | ![]() |
element ![]() |
11 | ![]() |
element ![]() |
12 | ![]() |
element ![]() |
13 | ![]() |
element ![]() |
14 | ![]() |
element ![]() |
15 | ![]() |
element ![]() |
16 | ![]() |
motor rotor inertia |
17 | ![]() |
motor gear ratio |
18 | ![]() |
motor viscous friction coefficient |
19 | ![]() |
motor Coulomb friction coefficient |