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Обзор доступных кинематических групп

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Синтаксис

kinGroupDetails = showdetails (analyticalIK)

Описание

пример

kinGroupDetails = showdetails(analyticalIK) отображает обзор всех комбинаций кинематических групп, доступных для rigidBodyTree объект, связанный с аналитическим решателем обратной кинематики (ИК). Каждая кинематическая группа содержит имена тел как для базового, так и для концевого эффектора, действительные для замкнутых решений аналитического ИК.

Чтобы использовать определенную кинематическую группу для объекта, щелкните соответствующую ссылку Использовать эту кинематическую группу в выходной таблице. По этой ссылке обновляются свойства KinematicGroup и KinematicGroupType analyticalInverseKinematics объект.

Примеры

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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

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Аналитический решатель обратной кинематики, указанный как analyticalInverseKinematics объект.

Выходные аргументы

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Сведения о классификации кинематических групп, возвращаемые в виде структуры со следующими полями:

  • KinematicGroup - Структура, содержащая в полях названия тела основания и концевого эффектора кинематической группы BaseName и EndEffectorBodyNameсоответственно.

  • Type - тип классификации кинематических групп с тем же форматом, что и у свойства KinematicGroupType analyticalInverseKinematics объект.

  • IsIntersectionAxesMidpoint - вектор n-элемента, указывающий, пересекается ли каждая конкретная ось соединения с предыдущим или последующим нефиксированным соединением. n - число нефиксированных соединений в кинематической группе.

  • MidpointAxisIntersections - Массив 2 на 3 на n, который хранит точки пересечения соединения, где каждый элемент третьего размера соответствует одному соединению. Для каждого канала n первая строка является точкой пересечения от предыдущего соединения к соединению, представленному этим каналом. Вторая строка является точкой пересечения от соединения к следующему соединению. Массив определяет точки пересечения как [x y z] координаты относительно основания.

См. также

Объекты

Функции

Представлен в R2020b

Документация по инструментам робототехнической системы

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