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generateIKFunction

Создание функции для обратной кинематики замкнутой формы

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Синтаксис

ikFunction = generateIKFunction (analyticalIK, functionName)

Описание

пример

ikFunction = generateIKFunction(analyticalIK,functionName) генерирует функцию с указанным именем, functionName, которая вычисляет решения замкнутой формы для обратной кинематики (IK) для выбранной кинематической группы для достижения желаемой конечной эффекторной позы. Чтобы создать список конфигураций, которые достигают желаемой конечной эффекторной позы, используйте сгенерированную функцию ikFunction. Указанное analyticalInverseKinematics объект analyticalIK должен содержать допустимую кинематическую группу. Для получения информации об определении допустимых кинематических групп см. showdetails функция.

Синтаксис созданной функции см. в разделе ikFunction выходной аргумент.

Примеры

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Открыть сценарий в реальном времени

Создание решений обратной кинематики (IK) замкнутой формы для требуемого конечного эффектора. Загрузить предоставленную модель робота и проверить сведения о возможных кинематических группах тел основания и концевых эффекторов. Создайте функцию для нужной кинематической группы. Проверьте различные конфигурации для конкретной позы концевого эффектора.

Модель робота

Загрузите модель робота ABB IRB 120 в рабочее пространство. Отображение модели.

robot = loadrobot('abbIrb120','DataFormat','row');
show(robot);

Аналитический ИК

Создайте аналитический решатель IK. Показать сведения о модели робота, в которой перечислены различные кинематические группы, доступные для аналитических решений IK закрытой формы. Выберите вторую кинематическую группу, щелкнув ссылку Использовать эту кинематическую группу во второй строке таблицы.

aik = analyticalInverseKinematics(robot);
showdetails(aik)
--------------------
Robot: (8 bodies)

Index      Base Name   EE Body Name     Type                    Actions
-----      ---------   ------------     ----                    -------
    1      base_link         link_6   RRRSSS   Use this kinematic group
    2      base_link          tool0   RRRSSS   Use this kinematic group

Осмотрите кинематическую группу, в которой перечислены имена корпуса основания и концевого эффектора. Для этого робота группа использует 'base_link' и 'tool0' тела, соответственно.

aik.KinematicGroup
ans = struct with fields:
               BaseName: 'base_link'
    EndEffectorBodyName: 'tool0'

Создать функцию

Создайте функцию IK для выбранной кинематической группы. Укажите имя функции, создаваемой и сохраняемой в текущей папке. 

generateIKFunction(aik,'robotIK');

Укажите требуемое положение концевого эффектора. Преобразуйте положение xyz в однородное преобразование. 

eePosition = [0 0.5 0.5];
eePose = trvec2tform(eePosition);
hold on
plotTransforms(eePosition,tform2quat(eePose))
hold off

Создание конфигурации для решения IK

Укажите однородное преобразование в сгенерированную функцию IK, которая генерирует все решения для требуемой конечной эффекторной позы. Просмотрите первую сгенерированную конфигурацию для проверки достижения требуемой позы.

ikConfig = robotIK(eePose); % Uses the generated file

show(robot,ikConfig(1,:));
hold on
plotTransforms(eePosition,tform2quat(eePose))
hold off

Последовательно просмотрите все решения IK закрытой формы.

figure;
numSolutions = size(ikConfig,1);

for i = 1:size(ikConfig,1)
    subplot(1,numSolutions,i)
    show(robot,ikConfig(i,:));
end

Открыть сценарий в реальном времени

Некоторые модели роботов-манипуляторов имеют большие степени свободы (DOF). Однако для достижения определенных конечных эффекторных поз требуется только шесть DOF. Используйте analyticalInverseKinematics объект, поддерживающий роботов с шестью степенями свободы, для определения различных действительных кинематических групп для этой модели робота с большими степенями свободы. Используйте showdetails для получения информации о модели.

Загрузить модель робота и создать решатель IK

Загрузите модель робота в рабочее пространство и создайте analyicalInverseKinematics объект. Используйте showdetails функция объекта для просмотра поддерживаемых кинематических групп.

robot = loadrobot('willowgaragePR2','DataFormat','row');
aik = analyticalInverseKinematics(robot);
opts = showdetails(aik);
--------------------
Robot: (94 bodies)

Index                                          Base Name                                       EE Body Name     Type                    Actions
-----                                          ---------                                       ------------     ----                    -------
    1                                l_shoulder_pan_link                                  l_wrist_roll_link   RSSSSS   Use this kinematic group
    2                                r_shoulder_pan_link                                  r_wrist_roll_link   RSSSSS   Use this kinematic group
    3                                l_shoulder_pan_link                                l_gripper_palm_link   RSSSSS   Use this kinematic group
    4                                r_shoulder_pan_link                                r_gripper_palm_link   RSSSSS   Use this kinematic group
    5                                l_shoulder_pan_link                                l_gripper_led_frame   RSSSSS   Use this kinematic group
    6                                l_shoulder_pan_link                 l_gripper_motor_accelerometer_link   RSSSSS   Use this kinematic group
    7                                l_shoulder_pan_link                               l_gripper_tool_frame   RSSSSS   Use this kinematic group
    8                                r_shoulder_pan_link                                r_gripper_led_frame   RSSSSS   Use this kinematic group
    9                                r_shoulder_pan_link                 r_gripper_motor_accelerometer_link   RSSSSS   Use this kinematic group
   10                                r_shoulder_pan_link                               r_gripper_tool_frame   RSSSSS   Use this kinematic group

Выберите группу программным способом, используя выходные данные showdetails функция объекта, opts. Выбранная группа использует левое плечо в качестве основания, а левое запястье - в качестве концевого эффектора.

aik.KinematicGroup = opts(1).KinematicGroup;
disp(aik.KinematicGroup)
               BaseName: 'l_shoulder_pan_link'
    EndEffectorBodyName: 'l_wrist_roll_link'

Создайте функцию IK для выбранной группы. 

generateIKFunction(aik,'willowRobotIK');

Решить аналитический ИК

Определите целевую конечную эффекторную позу, используя произвольно сгенерированную конфигурацию.

rng(0);
expConfig = randomConfiguration(robot);

eeBodyName = aik.KinematicGroup.EndEffectorBodyName;
baseName = aik.KinematicGroup.BaseName;
expEEPose = getTransform(robot,expConfig,eeBodyName,baseName);

Решение для всех конфигураций роботов, которые достигают определенной конечной эффекторной позы с помощью сгенерированной функции IK. Чтобы игнорировать пределы соединения, укажите false в качестве второго входного аргумента.

ikConfig = willowRobotIK(expEEPose,false);

Чтобы отобразить целевую концевую эффекторную позу в мировой рамке, получайте преобразование из базы модели робота, а не из базы кинематической группы. Отображение всех созданных решений IK путем указания индексов решения IK кинематической группы в векторе конфигурации, используемом с show функция.

eeWorldPose = getTransform(robot,expConfig,eeBodyName);

generatedConfig = repmat(expConfig, size(ikConfig,1), 1);
generatedConfig(:,aik.KinematicGroupConfigIdx) = ikConfig;

for i = 1:size(ikConfig,1)
    figure;
    ax = show(robot,generatedConfig(i,:));
    hold all;
    plotTransforms(tform2trvec(eeWorldPose),tform2quat(eeWorldPose),'Parent',ax);
    title(['Solution ' num2str(i)]);
end

Figure contains an axes. The axes with title Solution 1 contains 248 objects of type patch, line. These objects represent base_footprint, base_link, base_bellow_link, base_laser_link, bl_caster_rotation_link, bl_caster_l_wheel_link, bl_caster_r_wheel_link, br_caster_rotation_link, br_caster_l_wheel_link, br_caster_r_wheel_link, fl_caster_rotation_link, fl_caster_l_wheel_link, fl_caster_r_wheel_link, fr_caster_rotation_link, fr_caster_l_wheel_link, fr_caster_r_wheel_link, torso_lift_link, head_pan_link, head_tilt_link, head_plate_frame, head_mount_link, head_mount_kinect_ir_link, head_mount_kinect_ir_optical_frame, head_mount_kinect_rgb_link, head_mount_kinect_rgb_optical_frame, head_mount_prosilica_link, head_mount_prosilica_optical_frame, projector_wg6802418_frame, projector_wg6802418_child_frame, sensor_mount_link, double_stereo_link, narrow_stereo_link, narrow_stereo_l_stereo_camera_frame, narrow_stereo_l_stereo_camera_optical_frame, narrow_stereo_r_stereo_camera_frame, narrow_stereo_r_stereo_camera_optical_frame, narrow_stereo_optical_frame, wide_stereo_link, wide_stereo_l_stereo_camera_frame, wide_stereo_l_stereo_camera_optical_frame, wide_stereo_r_stereo_camera_frame, wide_stereo_r_stereo_camera_optical_frame, wide_stereo_optical_frame, high_def_frame, high_def_optical_frame, imu_link, l_shoulder_pan_link, l_shoulder_lift_link, l_upper_arm_roll_link, l_upper_arm_link, l_elbow_flex_link, l_forearm_roll_link, l_forearm_cam_frame, l_forearm_cam_optical_frame, l_forearm_link, l_wrist_flex_link, l_wrist_roll_link, l_gripper_palm_link, l_gripper_l_finger_link, l_gripper_l_finger_tip_link, l_gripper_led_frame, l_gripper_motor_accelerometer_link, l_gripper_motor_slider_link, l_gripper_motor_screw_link, l_gripper_r_finger_link, l_gripper_r_finger_tip_link, l_gripper_l_finger_tip_frame, l_gripper_tool_frame, l_torso_lift_side_plate_link, laser_tilt_mount_link, laser_tilt_link, r_shoulder_pan_link, r_shoulder_lift_link, r_upper_arm_roll_link, r_upper_arm_link, r_elbow_flex_link, r_forearm_roll_link, r_forearm_cam_frame, r_forearm_cam_optical_frame, r_forearm_link, r_wrist_flex_link, r_wrist_roll_link, r_gripper_palm_link, r_gripper_l_finger_link, r_gripper_l_finger_tip_link, r_gripper_led_frame, r_gripper_motor_accelerometer_link, r_gripper_motor_slider_link, r_gripper_motor_screw_link, r_gripper_r_finger_link, r_gripper_r_finger_tip_link, r_gripper_l_finger_tip_frame, r_gripper_tool_frame, r_torso_lift_side_plate_link, torso_lift_motor_screw_link, base_link_mesh, base_bellow_link_mesh, bl_caster_rotation_link_mesh, bl_caster_l_wheel_link_mesh, bl_caster_r_wheel_link_mesh, br_caster_rotation_link_mesh, br_caster_l_wheel_link_mesh, br_caster_r_wheel_link_mesh, fl_caster_rotation_link_mesh, fl_caster_l_wheel_link_mesh, fl_caster_r_wheel_link_mesh, fr_caster_rotation_link_mesh, fr_caster_l_wheel_link_mesh, fr_caster_r_wheel_link_mesh, torso_lift_link_mesh, head_pan_link_mesh, head_tilt_link_mesh, head_plate_frame_mesh, head_mount_kinect_ir_link_mesh, head_mount_kinect_rgb_link_mesh, head_mount_prosilica_link_mesh, sensor_mount_link_mesh, double_stereo_link_mesh, l_shoulder_pan_link_mesh, l_shoulder_lift_link_mesh, l_upper_arm_roll_link_mesh, l_upper_arm_link_mesh, l_elbow_flex_link_mesh, l_forearm_roll_link_mesh, l_forearm_link_mesh, l_wrist_flex_link_mesh, l_wrist_roll_link_mesh, l_gripper_palm_link_mesh, l_gripper_l_finger_link_mesh, l_gripper_l_finger_tip_link_mesh, l_gripper_motor_accelerometer_link_mesh, l_gripper_r_finger_link_mesh, l_gripper_r_finger_tip_link_mesh, laser_tilt_mount_link_mesh, r_shoulder_pan_link_mesh, r_shoulder_lift_link_mesh, r_upper_arm_roll_link_mesh, r_upper_arm_link_mesh, r_elbow_flex_link_mesh, r_forearm_roll_link_mesh, r_forearm_link_mesh, r_wrist_flex_link_mesh, r_wrist_roll_link_mesh, r_gripper_palm_link_mesh, r_gripper_l_finger_link_mesh, r_gripper_l_finger_tip_link_mesh, r_gripper_motor_accelerometer_link_mesh, r_gripper_r_finger_link_mesh, r_gripper_r_finger_tip_link_mesh, base_footprint_mesh.

Figure contains an axes. The axes with title Solution 2 contains 248 objects of type patch, line. These objects represent base_footprint, base_link, base_bellow_link, base_laser_link, bl_caster_rotation_link, bl_caster_l_wheel_link, bl_caster_r_wheel_link, br_caster_rotation_link, br_caster_l_wheel_link, br_caster_r_wheel_link, fl_caster_rotation_link, fl_caster_l_wheel_link, fl_caster_r_wheel_link, fr_caster_rotation_link, fr_caster_l_wheel_link, fr_caster_r_wheel_link, torso_lift_link, head_pan_link, head_tilt_link, head_plate_frame, head_mount_link, head_mount_kinect_ir_link, head_mount_kinect_ir_optical_frame, head_mount_kinect_rgb_link, head_mount_kinect_rgb_optical_frame, head_mount_prosilica_link, head_mount_prosilica_optical_frame, projector_wg6802418_frame, projector_wg6802418_child_frame, sensor_mount_link, double_stereo_link, narrow_stereo_link, narrow_stereo_l_stereo_camera_frame, narrow_stereo_l_stereo_camera_optical_frame, narrow_stereo_r_stereo_camera_frame, narrow_stereo_r_stereo_camera_optical_frame, narrow_stereo_optical_frame, wide_stereo_link, wide_stereo_l_stereo_camera_frame, wide_stereo_l_stereo_camera_optical_frame, wide_stereo_r_stereo_camera_frame, wide_stereo_r_stereo_camera_optical_frame, wide_stereo_optical_frame, high_def_frame, high_def_optical_frame, imu_link, l_shoulder_pan_link, l_shoulder_lift_link, l_upper_arm_roll_link, l_upper_arm_link, l_elbow_flex_link, l_forearm_roll_link, l_forearm_cam_frame, l_forearm_cam_optical_frame, l_forearm_link, l_wrist_flex_link, l_wrist_roll_link, l_gripper_palm_link, l_gripper_l_finger_link, l_gripper_l_finger_tip_link, l_gripper_led_frame, l_gripper_motor_accelerometer_link, l_gripper_motor_slider_link, l_gripper_motor_screw_link, l_gripper_r_finger_link, l_gripper_r_finger_tip_link, l_gripper_l_finger_tip_frame, l_gripper_tool_frame, l_torso_lift_side_plate_link, laser_tilt_mount_link, laser_tilt_link, r_shoulder_pan_link, r_shoulder_lift_link, r_upper_arm_roll_link, r_upper_arm_link, r_elbow_flex_link, r_forearm_roll_link, r_forearm_cam_frame, r_forearm_cam_optical_frame, r_forearm_link, r_wrist_flex_link, r_wrist_roll_link, r_gripper_palm_link, r_gripper_l_finger_link, r_gripper_l_finger_tip_link, r_gripper_led_frame, r_gripper_motor_accelerometer_link, r_gripper_motor_slider_link, r_gripper_motor_screw_link, r_gripper_r_finger_link, r_gripper_r_finger_tip_link, r_gripper_l_finger_tip_frame, r_gripper_tool_frame, r_torso_lift_side_plate_link, torso_lift_motor_screw_link, base_link_mesh, base_bellow_link_mesh, bl_caster_rotation_link_mesh, bl_caster_l_wheel_link_mesh, bl_caster_r_wheel_link_mesh, br_caster_rotation_link_mesh, br_caster_l_wheel_link_mesh, br_caster_r_wheel_link_mesh, fl_caster_rotation_link_mesh, fl_caster_l_wheel_link_mesh, fl_caster_r_wheel_link_mesh, fr_caster_rotation_link_mesh, fr_caster_l_wheel_link_mesh, fr_caster_r_wheel_link_mesh, torso_lift_link_mesh, head_pan_link_mesh, head_tilt_link_mesh, head_plate_frame_mesh, head_mount_kinect_ir_link_mesh, head_mount_kinect_rgb_link_mesh, head_mount_prosilica_link_mesh, sensor_mount_link_mesh, double_stereo_link_mesh, l_shoulder_pan_link_mesh, l_shoulder_lift_link_mesh, l_upper_arm_roll_link_mesh, l_upper_arm_link_mesh, l_elbow_flex_link_mesh, l_forearm_roll_link_mesh, l_forearm_link_mesh, l_wrist_flex_link_mesh, l_wrist_roll_link_mesh, l_gripper_palm_link_mesh, l_gripper_l_finger_link_mesh, l_gripper_l_finger_tip_link_mesh, l_gripper_motor_accelerometer_link_mesh, l_gripper_r_finger_link_mesh, l_gripper_r_finger_tip_link_mesh, laser_tilt_mount_link_mesh, r_shoulder_pan_link_mesh, r_shoulder_lift_link_mesh, r_upper_arm_roll_link_mesh, r_upper_arm_link_mesh, r_elbow_flex_link_mesh, r_forearm_roll_link_mesh, r_forearm_link_mesh, r_wrist_flex_link_mesh, r_wrist_roll_link_mesh, r_gripper_palm_link_mesh, r_gripper_l_finger_link_mesh, r_gripper_l_finger_tip_link_mesh, r_gripper_motor_accelerometer_link_mesh, r_gripper_r_finger_link_mesh, r_gripper_r_finger_tip_link_mesh, base_footprint_mesh.

Figure contains an axes. The axes with title Solution 3 contains 248 objects of type patch, line. These objects represent base_footprint, base_link, base_bellow_link, base_laser_link, bl_caster_rotation_link, bl_caster_l_wheel_link, bl_caster_r_wheel_link, br_caster_rotation_link, br_caster_l_wheel_link, br_caster_r_wheel_link, fl_caster_rotation_link, fl_caster_l_wheel_link, fl_caster_r_wheel_link, fr_caster_rotation_link, fr_caster_l_wheel_link, fr_caster_r_wheel_link, torso_lift_link, head_pan_link, head_tilt_link, head_plate_frame, head_mount_link, head_mount_kinect_ir_link, head_mount_kinect_ir_optical_frame, head_mount_kinect_rgb_link, head_mount_kinect_rgb_optical_frame, head_mount_prosilica_link, head_mount_prosilica_optical_frame, projector_wg6802418_frame, projector_wg6802418_child_frame, sensor_mount_link, double_stereo_link, narrow_stereo_link, narrow_stereo_l_stereo_camera_frame, narrow_stereo_l_stereo_camera_optical_frame, narrow_stereo_r_stereo_camera_frame, narrow_stereo_r_stereo_camera_optical_frame, narrow_stereo_optical_frame, wide_stereo_link, wide_stereo_l_stereo_camera_frame, wide_stereo_l_stereo_camera_optical_frame, wide_stereo_r_stereo_camera_frame, wide_stereo_r_stereo_camera_optical_frame, wide_stereo_optical_frame, high_def_frame, high_def_optical_frame, imu_link, l_shoulder_pan_link, l_shoulder_lift_link, l_upper_arm_roll_link, l_upper_arm_link, l_elbow_flex_link, l_forearm_roll_link, l_forearm_cam_frame, l_forearm_cam_optical_frame, l_forearm_link, l_wrist_flex_link, l_wrist_roll_link, l_gripper_palm_link, l_gripper_l_finger_link, l_gripper_l_finger_tip_link, l_gripper_led_frame, l_gripper_motor_accelerometer_link, l_gripper_motor_slider_link, l_gripper_motor_screw_link, l_gripper_r_finger_link, l_gripper_r_finger_tip_link, l_gripper_l_finger_tip_frame, l_gripper_tool_frame, l_torso_lift_side_plate_link, laser_tilt_mount_link, laser_tilt_link, r_shoulder_pan_link, r_shoulder_lift_link, r_upper_arm_roll_link, r_upper_arm_link, r_elbow_flex_link, r_forearm_roll_link, r_forearm_cam_frame, r_forearm_cam_optical_frame, r_forearm_link, r_wrist_flex_link, r_wrist_roll_link, r_gripper_palm_link, r_gripper_l_finger_link, r_gripper_l_finger_tip_link, r_gripper_led_frame, r_gripper_motor_accelerometer_link, r_gripper_motor_slider_link, r_gripper_motor_screw_link, r_gripper_r_finger_link, r_gripper_r_finger_tip_link, r_gripper_l_finger_tip_frame, r_gripper_tool_frame, r_torso_lift_side_plate_link, torso_lift_motor_screw_link, base_link_mesh, base_bellow_link_mesh, bl_caster_rotation_link_mesh, bl_caster_l_wheel_link_mesh, bl_caster_r_wheel_link_mesh, br_caster_rotation_link_mesh, br_caster_l_wheel_link_mesh, br_caster_r_wheel_link_mesh, fl_caster_rotation_link_mesh, fl_caster_l_wheel_link_mesh, fl_caster_r_wheel_link_mesh, fr_caster_rotation_link_mesh, fr_caster_l_wheel_link_mesh, fr_caster_r_wheel_link_mesh, torso_lift_link_mesh, head_pan_link_mesh, head_tilt_link_mesh, head_plate_frame_mesh, head_mount_kinect_ir_link_mesh, head_mount_kinect_rgb_link_mesh, head_mount_prosilica_link_mesh, sensor_mount_link_mesh, double_stereo_link_mesh, l_shoulder_pan_link_mesh, l_shoulder_lift_link_mesh, l_upper_arm_roll_link_mesh, l_upper_arm_link_mesh, l_elbow_flex_link_mesh, l_forearm_roll_link_mesh, l_forearm_link_mesh, l_wrist_flex_link_mesh, l_wrist_roll_link_mesh, l_gripper_palm_link_mesh, l_gripper_l_finger_link_mesh, l_gripper_l_finger_tip_link_mesh, l_gripper_motor_accelerometer_link_mesh, l_gripper_r_finger_link_mesh, l_gripper_r_finger_tip_link_mesh, laser_tilt_mount_link_mesh, r_shoulder_pan_link_mesh, r_shoulder_lift_link_mesh, r_upper_arm_roll_link_mesh, r_upper_arm_link_mesh, r_elbow_flex_link_mesh, r_forearm_roll_link_mesh, r_forearm_link_mesh, r_wrist_flex_link_mesh, r_wrist_roll_link_mesh, r_gripper_palm_link_mesh, r_gripper_l_finger_link_mesh, r_gripper_l_finger_tip_link_mesh, r_gripper_motor_accelerometer_link_mesh, r_gripper_r_finger_link_mesh, r_gripper_r_finger_tip_link_mesh, base_footprint_mesh.

Figure contains an axes. The axes with title Solution 4 contains 248 objects of type patch, line. These objects represent base_footprint, base_link, base_bellow_link, base_laser_link, bl_caster_rotation_link, bl_caster_l_wheel_link, bl_caster_r_wheel_link, br_caster_rotation_link, br_caster_l_wheel_link, br_caster_r_wheel_link, fl_caster_rotation_link, fl_caster_l_wheel_link, fl_caster_r_wheel_link, fr_caster_rotation_link, fr_caster_l_wheel_link, fr_caster_r_wheel_link, torso_lift_link, head_pan_link, head_tilt_link, head_plate_frame, head_mount_link, head_mount_kinect_ir_link, head_mount_kinect_ir_optical_frame, head_mount_kinect_rgb_link, head_mount_kinect_rgb_optical_frame, head_mount_prosilica_link, head_mount_prosilica_optical_frame, projector_wg6802418_frame, projector_wg6802418_child_frame, sensor_mount_link, double_stereo_link, narrow_stereo_link, narrow_stereo_l_stereo_camera_frame, narrow_stereo_l_stereo_camera_optical_frame, narrow_stereo_r_stereo_camera_frame, narrow_stereo_r_stereo_camera_optical_frame, narrow_stereo_optical_frame, wide_stereo_link, wide_stereo_l_stereo_camera_frame, wide_stereo_l_stereo_camera_optical_frame, wide_stereo_r_stereo_camera_frame, wide_stereo_r_stereo_camera_optical_frame, wide_stereo_optical_frame, high_def_frame, high_def_optical_frame, imu_link, l_shoulder_pan_link, l_shoulder_lift_link, l_upper_arm_roll_link, l_upper_arm_link, l_elbow_flex_link, l_forearm_roll_link, l_forearm_cam_frame, l_forearm_cam_optical_frame, l_forearm_link, l_wrist_flex_link, l_wrist_roll_link, l_gripper_palm_link, l_gripper_l_finger_link, l_gripper_l_finger_tip_link, l_gripper_led_frame, l_gripper_motor_accelerometer_link, l_gripper_motor_slider_link, l_gripper_motor_screw_link, l_gripper_r_finger_link, l_gripper_r_finger_tip_link, l_gripper_l_finger_tip_frame, l_gripper_tool_frame, l_torso_lift_side_plate_link, laser_tilt_mount_link, laser_tilt_link, r_shoulder_pan_link, r_shoulder_lift_link, r_upper_arm_roll_link, r_upper_arm_link, r_elbow_flex_link, r_forearm_roll_link, r_forearm_cam_frame, r_forearm_cam_optical_frame, r_forearm_link, r_wrist_flex_link, r_wrist_roll_link, r_gripper_palm_link, r_gripper_l_finger_link, r_gripper_l_finger_tip_link, r_gripper_led_frame, r_gripper_motor_accelerometer_link, r_gripper_motor_slider_link, r_gripper_motor_screw_link, r_gripper_r_finger_link, r_gripper_r_finger_tip_link, r_gripper_l_finger_tip_frame, r_gripper_tool_frame, r_torso_lift_side_plate_link, torso_lift_motor_screw_link, base_link_mesh, base_bellow_link_mesh, bl_caster_rotation_link_mesh, bl_caster_l_wheel_link_mesh, bl_caster_r_wheel_link_mesh, br_caster_rotation_link_mesh, br_caster_l_wheel_link_mesh, br_caster_r_wheel_link_mesh, fl_caster_rotation_link_mesh, fl_caster_l_wheel_link_mesh, fl_caster_r_wheel_link_mesh, fr_caster_rotation_link_mesh, fr_caster_l_wheel_link_mesh, fr_caster_r_wheel_link_mesh, torso_lift_link_mesh, head_pan_link_mesh, head_tilt_link_mesh, head_plate_frame_mesh, head_mount_kinect_ir_link_mesh, head_mount_kinect_rgb_link_mesh, head_mount_prosilica_link_mesh, sensor_mount_link_mesh, double_stereo_link_mesh, l_shoulder_pan_link_mesh, l_shoulder_lift_link_mesh, l_upper_arm_roll_link_mesh, l_upper_arm_link_mesh, l_elbow_flex_link_mesh, l_forearm_roll_link_mesh, l_forearm_link_mesh, l_wrist_flex_link_mesh, l_wrist_roll_link_mesh, l_gripper_palm_link_mesh, l_gripper_l_finger_link_mesh, l_gripper_l_finger_tip_link_mesh, l_gripper_motor_accelerometer_link_mesh, l_gripper_r_finger_link_mesh, l_gripper_r_finger_tip_link_mesh, laser_tilt_mount_link_mesh, r_shoulder_pan_link_mesh, r_shoulder_lift_link_mesh, r_upper_arm_roll_link_mesh, r_upper_arm_link_mesh, r_elbow_flex_link_mesh, r_forearm_roll_link_mesh, r_forearm_link_mesh, r_wrist_flex_link_mesh, r_wrist_roll_link_mesh, r_gripper_palm_link_mesh, r_gripper_l_finger_link_mesh, r_gripper_l_finger_tip_link_mesh, r_gripper_motor_accelerometer_link_mesh, r_gripper_r_finger_link_mesh, r_gripper_r_finger_tip_link_mesh, base_footprint_mesh.

Figure contains an axes. The axes with title Solution 5 contains 248 objects of type patch, line. These objects represent base_footprint, base_link, base_bellow_link, base_laser_link, bl_caster_rotation_link, bl_caster_l_wheel_link, bl_caster_r_wheel_link, br_caster_rotation_link, br_caster_l_wheel_link, br_caster_r_wheel_link, fl_caster_rotation_link, fl_caster_l_wheel_link, fl_caster_r_wheel_link, fr_caster_rotation_link, fr_caster_l_wheel_link, fr_caster_r_wheel_link, torso_lift_link, head_pan_link, head_tilt_link, head_plate_frame, head_mount_link, head_mount_kinect_ir_link, head_mount_kinect_ir_optical_frame, head_mount_kinect_rgb_link, head_mount_kinect_rgb_optical_frame, head_mount_prosilica_link, head_mount_prosilica_optical_frame, projector_wg6802418_frame, projector_wg6802418_child_frame, sensor_mount_link, double_stereo_link, narrow_stereo_link, narrow_stereo_l_stereo_camera_frame, narrow_stereo_l_stereo_camera_optical_frame, narrow_stereo_r_stereo_camera_frame, narrow_stereo_r_stereo_camera_optical_frame, narrow_stereo_optical_frame, wide_stereo_link, wide_stereo_l_stereo_camera_frame, wide_stereo_l_stereo_camera_optical_frame, wide_stereo_r_stereo_camera_frame, wide_stereo_r_stereo_camera_optical_frame, wide_stereo_optical_frame, high_def_frame, high_def_optical_frame, imu_link, l_shoulder_pan_link, l_shoulder_lift_link, l_upper_arm_roll_link, l_upper_arm_link, l_elbow_flex_link, l_forearm_roll_link, l_forearm_cam_frame, l_forearm_cam_optical_frame, l_forearm_link, l_wrist_flex_link, l_wrist_roll_link, l_gripper_palm_link, l_gripper_l_finger_link, l_gripper_l_finger_tip_link, l_gripper_led_frame, l_gripper_motor_accelerometer_link, l_gripper_motor_slider_link, l_gripper_motor_screw_link, l_gripper_r_finger_link, l_gripper_r_finger_tip_link, l_gripper_l_finger_tip_frame, l_gripper_tool_frame, l_torso_lift_side_plate_link, laser_tilt_mount_link, laser_tilt_link, r_shoulder_pan_link, r_shoulder_lift_link, r_upper_arm_roll_link, r_upper_arm_link, r_elbow_flex_link, r_forearm_roll_link, r_forearm_cam_frame, r_forearm_cam_optical_frame, r_forearm_link, r_wrist_flex_link, r_wrist_roll_link, r_gripper_palm_link, r_gripper_l_finger_link, r_gripper_l_finger_tip_link, r_gripper_led_frame, r_gripper_motor_accelerometer_link, r_gripper_motor_slider_link, r_gripper_motor_screw_link, r_gripper_r_finger_link, r_gripper_r_finger_tip_link, r_gripper_l_finger_tip_frame, r_gripper_tool_frame, r_torso_lift_side_plate_link, torso_lift_motor_screw_link, base_link_mesh, base_bellow_link_mesh, bl_caster_rotation_link_mesh, bl_caster_l_wheel_link_mesh, bl_caster_r_wheel_link_mesh, br_caster_rotation_link_mesh, br_caster_l_wheel_link_mesh, br_caster_r_wheel_link_mesh, fl_caster_rotation_link_mesh, fl_caster_l_wheel_link_mesh, fl_caster_r_wheel_link_mesh, fr_caster_rotation_link_mesh, fr_caster_l_wheel_link_mesh, fr_caster_r_wheel_link_mesh, torso_lift_link_mesh, head_pan_link_mesh, head_tilt_link_mesh, head_plate_frame_mesh, head_mount_kinect_ir_link_mesh, head_mount_kinect_rgb_link_mesh, head_mount_prosilica_link_mesh, sensor_mount_link_mesh, double_stereo_link_mesh, l_shoulder_pan_link_mesh, l_shoulder_lift_link_mesh, l_upper_arm_roll_link_mesh, l_upper_arm_link_mesh, l_elbow_flex_link_mesh, l_forearm_roll_link_mesh, l_forearm_link_mesh, l_wrist_flex_link_mesh, l_wrist_roll_link_mesh, l_gripper_palm_link_mesh, l_gripper_l_finger_link_mesh, l_gripper_l_finger_tip_link_mesh, l_gripper_motor_accelerometer_link_mesh, l_gripper_r_finger_link_mesh, l_gripper_r_finger_tip_link_mesh, laser_tilt_mount_link_mesh, r_shoulder_pan_link_mesh, r_shoulder_lift_link_mesh, r_upper_arm_roll_link_mesh, r_upper_arm_link_mesh, r_elbow_flex_link_mesh, r_forearm_roll_link_mesh, r_forearm_link_mesh, r_wrist_flex_link_mesh, r_wrist_roll_link_mesh, r_gripper_palm_link_mesh, r_gripper_l_finger_link_mesh, r_gripper_l_finger_tip_link_mesh, r_gripper_motor_accelerometer_link_mesh, r_gripper_r_finger_link_mesh, r_gripper_r_finger_tip_link_mesh, base_footprint_mesh.

Figure contains an axes. The axes with title Solution 6 contains 248 objects of type patch, line. These objects represent base_footprint, base_link, base_bellow_link, base_laser_link, bl_caster_rotation_link, bl_caster_l_wheel_link, bl_caster_r_wheel_link, br_caster_rotation_link, br_caster_l_wheel_link, br_caster_r_wheel_link, fl_caster_rotation_link, fl_caster_l_wheel_link, fl_caster_r_wheel_link, fr_caster_rotation_link, fr_caster_l_wheel_link, fr_caster_r_wheel_link, torso_lift_link, head_pan_link, head_tilt_link, head_plate_frame, head_mount_link, head_mount_kinect_ir_link, head_mount_kinect_ir_optical_frame, head_mount_kinect_rgb_link, head_mount_kinect_rgb_optical_frame, head_mount_prosilica_link, head_mount_prosilica_optical_frame, projector_wg6802418_frame, projector_wg6802418_child_frame, sensor_mount_link, double_stereo_link, narrow_stereo_link, narrow_stereo_l_stereo_camera_frame, narrow_stereo_l_stereo_camera_optical_frame, narrow_stereo_r_stereo_camera_frame, narrow_stereo_r_stereo_camera_optical_frame, narrow_stereo_optical_frame, wide_stereo_link, wide_stereo_l_stereo_camera_frame, wide_stereo_l_stereo_camera_optical_frame, wide_stereo_r_stereo_camera_frame, wide_stereo_r_stereo_camera_optical_frame, wide_stereo_optical_frame, high_def_frame, high_def_optical_frame, imu_link, l_shoulder_pan_link, l_shoulder_lift_link, l_upper_arm_roll_link, l_upper_arm_link, l_elbow_flex_link, l_forearm_roll_link, l_forearm_cam_frame, l_forearm_cam_optical_frame, l_forearm_link, l_wrist_flex_link, l_wrist_roll_link, l_gripper_palm_link, l_gripper_l_finger_link, l_gripper_l_finger_tip_link, l_gripper_led_frame, l_gripper_motor_accelerometer_link, l_gripper_motor_slider_link, l_gripper_motor_screw_link, l_gripper_r_finger_link, l_gripper_r_finger_tip_link, l_gripper_l_finger_tip_frame, l_gripper_tool_frame, l_torso_lift_side_plate_link, laser_tilt_mount_link, laser_tilt_link, r_shoulder_pan_link, r_shoulder_lift_link, r_upper_arm_roll_link, r_upper_arm_link, r_elbow_flex_link, r_forearm_roll_link, r_forearm_cam_frame, r_forearm_cam_optical_frame, r_forearm_link, r_wrist_flex_link, r_wrist_roll_link, r_gripper_palm_link, r_gripper_l_finger_link, r_gripper_l_finger_tip_link, r_gripper_led_frame, r_gripper_motor_accelerometer_link, r_gripper_motor_slider_link, r_gripper_motor_screw_link, r_gripper_r_finger_link, r_gripper_r_finger_tip_link, r_gripper_l_finger_tip_frame, r_gripper_tool_frame, r_torso_lift_side_plate_link, torso_lift_motor_screw_link, base_link_mesh, base_bellow_link_mesh, bl_caster_rotation_link_mesh, bl_caster_l_wheel_link_mesh, bl_caster_r_wheel_link_mesh, br_caster_rotation_link_mesh, br_caster_l_wheel_link_mesh, br_caster_r_wheel_link_mesh, fl_caster_rotation_link_mesh, fl_caster_l_wheel_link_mesh, fl_caster_r_wheel_link_mesh, fr_caster_rotation_link_mesh, fr_caster_l_wheel_link_mesh, fr_caster_r_wheel_link_mesh, torso_lift_link_mesh, head_pan_link_mesh, head_tilt_link_mesh, head_plate_frame_mesh, head_mount_kinect_ir_link_mesh, head_mount_kinect_rgb_link_mesh, head_mount_prosilica_link_mesh, sensor_mount_link_mesh, double_stereo_link_mesh, l_shoulder_pan_link_mesh, l_shoulder_lift_link_mesh, l_upper_arm_roll_link_mesh, l_upper_arm_link_mesh, l_elbow_flex_link_mesh, l_forearm_roll_link_mesh, l_forearm_link_mesh, l_wrist_flex_link_mesh, l_wrist_roll_link_mesh, l_gripper_palm_link_mesh, l_gripper_l_finger_link_mesh, l_gripper_l_finger_tip_link_mesh, l_gripper_motor_accelerometer_link_mesh, l_gripper_r_finger_link_mesh, l_gripper_r_finger_tip_link_mesh, laser_tilt_mount_link_mesh, r_shoulder_pan_link_mesh, r_shoulder_lift_link_mesh, r_upper_arm_roll_link_mesh, r_upper_arm_link_mesh, r_elbow_flex_link_mesh, r_forearm_roll_link_mesh, r_forearm_link_mesh, r_wrist_flex_link_mesh, r_wrist_roll_link_mesh, r_gripper_palm_link_mesh, r_gripper_l_finger_link_mesh, r_gripper_l_finger_tip_link_mesh, r_gripper_motor_accelerometer_link_mesh, r_gripper_r_finger_link_mesh, r_gripper_r_finger_tip_link_mesh, base_footprint_mesh.

Figure contains an axes. The axes with title Solution 7 contains 248 objects of type patch, line. These objects represent base_footprint, base_link, base_bellow_link, base_laser_link, bl_caster_rotation_link, bl_caster_l_wheel_link, bl_caster_r_wheel_link, br_caster_rotation_link, br_caster_l_wheel_link, br_caster_r_wheel_link, fl_caster_rotation_link, fl_caster_l_wheel_link, fl_caster_r_wheel_link, fr_caster_rotation_link, fr_caster_l_wheel_link, fr_caster_r_wheel_link, torso_lift_link, head_pan_link, head_tilt_link, head_plate_frame, head_mount_link, head_mount_kinect_ir_link, head_mount_kinect_ir_optical_frame, head_mount_kinect_rgb_link, head_mount_kinect_rgb_optical_frame, head_mount_prosilica_link, head_mount_prosilica_optical_frame, projector_wg6802418_frame, projector_wg6802418_child_frame, sensor_mount_link, double_stereo_link, narrow_stereo_link, narrow_stereo_l_stereo_camera_frame, narrow_stereo_l_stereo_camera_optical_frame, narrow_stereo_r_stereo_camera_frame, narrow_stereo_r_stereo_camera_optical_frame, narrow_stereo_optical_frame, wide_stereo_link, wide_stereo_l_stereo_camera_frame, wide_stereo_l_stereo_camera_optical_frame, wide_stereo_r_stereo_camera_frame, wide_stereo_r_stereo_camera_optical_frame, wide_stereo_optical_frame, high_def_frame, high_def_optical_frame, imu_link, l_shoulder_pan_link, l_shoulder_lift_link, l_upper_arm_roll_link, l_upper_arm_link, l_elbow_flex_link, l_forearm_roll_link, l_forearm_cam_frame, l_forearm_cam_optical_frame, l_forearm_link, l_wrist_flex_link, l_wrist_roll_link, l_gripper_palm_link, l_gripper_l_finger_link, l_gripper_l_finger_tip_link, l_gripper_led_frame, l_gripper_motor_accelerometer_link, l_gripper_motor_slider_link, l_gripper_motor_screw_link, l_gripper_r_finger_link, l_gripper_r_finger_tip_link, l_gripper_l_finger_tip_frame, l_gripper_tool_frame, l_torso_lift_side_plate_link, laser_tilt_mount_link, laser_tilt_link, r_shoulder_pan_link, r_shoulder_lift_link, r_upper_arm_roll_link, r_upper_arm_link, r_elbow_flex_link, r_forearm_roll_link, r_forearm_cam_frame, r_forearm_cam_optical_frame, r_forearm_link, r_wrist_flex_link, r_wrist_roll_link, r_gripper_palm_link, r_gripper_l_finger_link, r_gripper_l_finger_tip_link, r_gripper_led_frame, r_gripper_motor_accelerometer_link, r_gripper_motor_slider_link, r_gripper_motor_screw_link, r_gripper_r_finger_link, r_gripper_r_finger_tip_link, r_gripper_l_finger_tip_frame, r_gripper_tool_frame, r_torso_lift_side_plate_link, torso_lift_motor_screw_link, base_link_mesh, base_bellow_link_mesh, bl_caster_rotation_link_mesh, bl_caster_l_wheel_link_mesh, bl_caster_r_wheel_link_mesh, br_caster_rotation_link_mesh, br_caster_l_wheel_link_mesh, br_caster_r_wheel_link_mesh, fl_caster_rotation_link_mesh, fl_caster_l_wheel_link_mesh, fl_caster_r_wheel_link_mesh, fr_caster_rotation_link_mesh, fr_caster_l_wheel_link_mesh, fr_caster_r_wheel_link_mesh, torso_lift_link_mesh, head_pan_link_mesh, head_tilt_link_mesh, head_plate_frame_mesh, head_mount_kinect_ir_link_mesh, head_mount_kinect_rgb_link_mesh, head_mount_prosilica_link_mesh, sensor_mount_link_mesh, double_stereo_link_mesh, l_shoulder_pan_link_mesh, l_shoulder_lift_link_mesh, l_upper_arm_roll_link_mesh, l_upper_arm_link_mesh, l_elbow_flex_link_mesh, l_forearm_roll_link_mesh, l_forearm_link_mesh, l_wrist_flex_link_mesh, l_wrist_roll_link_mesh, l_gripper_palm_link_mesh, l_gripper_l_finger_link_mesh, l_gripper_l_finger_tip_link_mesh, l_gripper_motor_accelerometer_link_mesh, l_gripper_r_finger_link_mesh, l_gripper_r_finger_tip_link_mesh, laser_tilt_mount_link_mesh, r_shoulder_pan_link_mesh, r_shoulder_lift_link_mesh, r_upper_arm_roll_link_mesh, r_upper_arm_link_mesh, r_elbow_flex_link_mesh, r_forearm_roll_link_mesh, r_forearm_link_mesh, r_wrist_flex_link_mesh, r_wrist_roll_link_mesh, r_gripper_palm_link_mesh, r_gripper_l_finger_link_mesh, r_gripper_l_finger_tip_link_mesh, r_gripper_motor_accelerometer_link_mesh, r_gripper_r_finger_link_mesh, r_gripper_r_finger_tip_link_mesh, base_footprint_mesh.

Figure contains an axes. The axes with title Solution 8 contains 248 objects of type patch, line. These objects represent base_footprint, base_link, base_bellow_link, base_laser_link, bl_caster_rotation_link, bl_caster_l_wheel_link, bl_caster_r_wheel_link, br_caster_rotation_link, br_caster_l_wheel_link, br_caster_r_wheel_link, fl_caster_rotation_link, fl_caster_l_wheel_link, fl_caster_r_wheel_link, fr_caster_rotation_link, fr_caster_l_wheel_link, fr_caster_r_wheel_link, torso_lift_link, head_pan_link, head_tilt_link, head_plate_frame, head_mount_link, head_mount_kinect_ir_link, head_mount_kinect_ir_optical_frame, head_mount_kinect_rgb_link, head_mount_kinect_rgb_optical_frame, head_mount_prosilica_link, head_mount_prosilica_optical_frame, projector_wg6802418_frame, projector_wg6802418_child_frame, sensor_mount_link, double_stereo_link, narrow_stereo_link, narrow_stereo_l_stereo_camera_frame, narrow_stereo_l_stereo_camera_optical_frame, narrow_stereo_r_stereo_camera_frame, narrow_stereo_r_stereo_camera_optical_frame, narrow_stereo_optical_frame, wide_stereo_link, wide_stereo_l_stereo_camera_frame, wide_stereo_l_stereo_camera_optical_frame, wide_stereo_r_stereo_camera_frame, wide_stereo_r_stereo_camera_optical_frame, wide_stereo_optical_frame, high_def_frame, high_def_optical_frame, imu_link, l_shoulder_pan_link, l_shoulder_lift_link, l_upper_arm_roll_link, l_upper_arm_link, l_elbow_flex_link, l_forearm_roll_link, l_forearm_cam_frame, l_forearm_cam_optical_frame, l_forearm_link, l_wrist_flex_link, l_wrist_roll_link, l_gripper_palm_link, l_gripper_l_finger_link, l_gripper_l_finger_tip_link, l_gripper_led_frame, l_gripper_motor_accelerometer_link, l_gripper_motor_slider_link, l_gripper_motor_screw_link, l_gripper_r_finger_link, l_gripper_r_finger_tip_link, l_gripper_l_finger_tip_frame, l_gripper_tool_frame, l_torso_lift_side_plate_link, laser_tilt_mount_link, laser_tilt_link, r_shoulder_pan_link, r_shoulder_lift_link, r_upper_arm_roll_link, r_upper_arm_link, r_elbow_flex_link, r_forearm_roll_link, r_forearm_cam_frame, r_forearm_cam_optical_frame, r_forearm_link, r_wrist_flex_link, r_wrist_roll_link, r_gripper_palm_link, r_gripper_l_finger_link, r_gripper_l_finger_tip_link, r_gripper_led_frame, r_gripper_motor_accelerometer_link, r_gripper_motor_slider_link, r_gripper_motor_screw_link, r_gripper_r_finger_link, r_gripper_r_finger_tip_link, r_gripper_l_finger_tip_frame, r_gripper_tool_frame, r_torso_lift_side_plate_link, torso_lift_motor_screw_link, base_link_mesh, base_bellow_link_mesh, bl_caster_rotation_link_mesh, bl_caster_l_wheel_link_mesh, bl_caster_r_wheel_link_mesh, br_caster_rotation_link_mesh, br_caster_l_wheel_link_mesh, br_caster_r_wheel_link_mesh, fl_caster_rotation_link_mesh, fl_caster_l_wheel_link_mesh, fl_caster_r_wheel_link_mesh, fr_caster_rotation_link_mesh, fr_caster_l_wheel_link_mesh, fr_caster_r_wheel_link_mesh, torso_lift_link_mesh, head_pan_link_mesh, head_tilt_link_mesh, head_plate_frame_mesh, head_mount_kinect_ir_link_mesh, head_mount_kinect_rgb_link_mesh, head_mount_prosilica_link_mesh, sensor_mount_link_mesh, double_stereo_link_mesh, l_shoulder_pan_link_mesh, l_shoulder_lift_link_mesh, l_upper_arm_roll_link_mesh, l_upper_arm_link_mesh, l_elbow_flex_link_mesh, l_forearm_roll_link_mesh, l_forearm_link_mesh, l_wrist_flex_link_mesh, l_wrist_roll_link_mesh, l_gripper_palm_link_mesh, l_gripper_l_finger_link_mesh, l_gripper_l_finger_tip_link_mesh, l_gripper_motor_accelerometer_link_mesh, l_gripper_r_finger_link_mesh, l_gripper_r_finger_tip_link_mesh, laser_tilt_mount_link_mesh, r_shoulder_pan_link_mesh, r_shoulder_lift_link_mesh, r_upper_arm_roll_link_mesh, r_upper_arm_link_mesh, r_elbow_flex_link_mesh, r_forearm_roll_link_mesh, r_forearm_link_mesh, r_wrist_flex_link_mesh, r_wrist_roll_link_mesh, r_gripper_palm_link_mesh, r_gripper_l_finger_link_mesh, r_gripper_l_finger_tip_link_mesh, r_gripper_motor_accelerometer_link_mesh, r_gripper_r_finger_link_mesh, r_gripper_r_finger_tip_link_mesh, base_footprint_mesh.

Входные аргументы

свернуть все

Аналитический решатель обратной кинематики, указанный как analyticalInverseKinematics объект.

Имя созданной функции, указанное как строковый скалярный или символьный вектор.

Пример: "jacoIKSolver"

Типы данных: char | string

Выходные аргументы

свернуть все

Решатель IK для выбранной кинематической группы, возвращаемый как дескриптор функции. Функция генерирует решения закрытой формы и имеет следующие опции синтаксиса:

robotConfig = ikFunction(eeTransform)
robotConfig = ikFunction(eeTransform,enforceJointLimits)
robotConfig = ikFunction(eeTransform,enforceJointLimits,sortByDistance)
robotConfig = ikFunction(eeTransform,enforceJointLimits,sortByDistance,referenceConfig)

Желательная концевая эффекторная поза, указанная как однородная матрица преобразования 4 на 4. Чтобы создать матрицу преобразования из положения xyz и ориентации кватерниона, используйте trvec2tform и quat2tform функции на соответствующих координатах и умножение результирующих матриц.

tform1 = trvec2tform([x y z]);
tform2 = quat2tform([qw qx qy qz]);
eeTransform = tform1*tform2;

Типы данных: single | double

Принудительное наложение пределов соединения на модель дерева жесткого тела, заданную как логическая, 1 (true или 0 (false). Если установлено значение false, решатель игнорирует пределы соединения модели робота в свойстве HusingBodyTree analyticalInverseKinematics объект.

Типы данных: logical

Сортировать конфигурации по расстоянию от желаемой позы, указанной как логическая, 1 (true или 0 (false).

Типы данных: logical

Ссылочная конфигурация для решения IK, заданная как вектор n-элемента, где n - количество нефиксированных соединений в модели робота дерева жесткого тела. Каждый элемент соответствует положению соединения в виде либо угла поворота в радианах для вращающихся соединений, либо линейного расстояния в метрах для призматических соединений.

Типы данных: single | double

Расширенные возможности

.

См. также

Объекты

Функции

Представлен в R2020b

Документация по инструментам робототехнической системы

Поддержка