By Peter I Corke
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Additional info for Robotics Toolbox For Matlab, Release 6
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3. List of arguments in the command line. GETTING GRAPHICAL ROBOT STATE Each graphical robot has a unique tag set equal to the robot’s name. When plot is called it looks for all graphical objects with that name and moves them. The graphical robot holds a copy of the robot object as UserData. That copy contains the graphical handles of all the graphical sub-elements of the robot and also the current joint angle state. This state is used, and adjusted, by the drivebot function. The current joint angle state can be obtained by q = plot(robot).
They can be optionally labelled XYZ or NOA. 5 robot/plot 47 the workspace dimensions. This dimension can be changed by setting the multiplicative scale factor using the mag option below. These various annotations do slow the rate at which animations will be rendered. OPTIONS Options are specified by a variable length argument list comprising strings and numeric values. The allowed values are: workspace w perspective ortho base, nobase wrist, nowrist name, noname shadow, noshadow joints, nojoints xyz noa mag scale erase, noerase loop, noloop set the 3D plot bounds or workspace to the matrix [xmin xmax ymin ymax zmin zmax] show a perspective view show an orthogonal view control display of base, a line from the floor upto joint 0 control display of wrist axes control display of robot name near joint 0 control display of a ’shadow’ on the floor control display of joints, these are cylinders for revolute joints and boxes for prismatic joints wrist axis labels are X, Y, Z wrist axis labels are N, O, A annotation scale factor control erasure of robot after each change control whether animation is repeated endlessly The options come from 3 sources and are processed in the order: 1.
The plot() function is also overloaded and is used to provide a robot animation. 2for robot objects and displays a graphical representation of the robot given the plot is overloaded kinematic information in0robot. 2 0 a joint-space line segments join the origins of the link coordinate frames. 4 trajectory then an animation of the robot motion is shown. 8 GRAPHICAL ANNOTATIONS −1 −1 The basic stick figure robot can be annotated with shadow on the ‘floor’ XYZ wrist axes and labels, shown by 3 short orthogonal line segments which are colored: red (X or normal), green (Y or orientation) and blue (Z or approach).