Practica Denavit Hatenberg Rppr

SISTEMAS ELEGIDOS

% A serial link manipulator comprises a series of links. Each link is described

% by four Denavit-Hartenberg parameters.

%

% Let's define a simple 2 link manipulator. The first link is

>> L1 = Link('d', 0, 'a', 1, 'alpha', pi/2)

L1 =

theta=q, d= 0, a= 1, alpha= 1.571, offset= 0 (R,stdDH)

% The Link object we created has a number of properties

>> L1.a

ans =

1

>> L1.d

ans =

0

% and we determine that it is a revolute joint

>> L1.isrevolute

ans =

1

% For a given joint angle, say q=0.2 rad, we can determine the link transform

% matrix

>> L1.A(0.2)

ans =

0.9801 -0.0000 0.1987 0.9801

0.1987 0.0000 -0.9801 0.1987

0 1.0000 0.0000 0

0 0 0 1.0000

% The second link is

>> L2 = Link('d', 0, 'a', 1, 'alpha', 0)

L2 =

theta=q, d= 0, a= 1, alpha= 0, offset= 0 (R,stdDH)

% Now we need to join these into a serial-link robot manipulator

>> bot = SerialLink([L1 L2], 'name', 'my robot')

bot =

my robot (2 axis, RR, stdDH, fastRNE)

+---+-----------+-----------+-----------+-----------+-----------+

| j | theta | d | a | alpha | offset |

+---+-----------+-----------+-----------+-----------+-----------+

| 1| q1| 0| 1| 1.571| 0|

| 2| q2| 0| 1| 0| 0|

+---+-----------+-----------+-----------+-----------+-----------+

grav = 0 base = 1 0 0 0 tool = 1 0 0 0

0 0 1 0 0 0 1 0 0

9.81 0 0 1 0 0 0 1 0

0 0 0 1 0 0 0 1

% The displayed robot object shows a lot of details. It also has a number of

% properties such as the number of joints

>> bot.n

ans =

2

% Given the joint angles q1 = 0.1 and q2 = 0.2 we can determine the pose of the

% robot's end-effector

>> bot.fkine([0.1 0.2])

ans =

0.9752 -0.1977 0.0998 1.9702

0.0978 -0.0198 -0.9950 0.1977

0.1987 0.9801 0.0000 0.1987

0 0 0 1.0000

% which is referred to as the forward kinematics of the robot. This, and the

% inverse kinematics are covered in separate demos.

% Finally we can draw a stick figure of our robot

>> bot.plot([0.1 0.2])