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generateIKFunction

Сгенерируйте функцию для обратной кинематики замкнутой формы

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Синтаксис

ikFunction = generateIKFunction(analyticalIK,functionName)

Описание

пример

ikFunction = generateIKFunction(analyticalIK,functionName) генерирует функцию с заданным именем, functionName, который вычисляет решения обратной кинематики (IK) замкнутой формы для выбранной кинематической группы, чтобы достичь желаемого положения концевого эффекта. Чтобы сгенерировать список строений, которые достигают желаемого положения end-effector, используйте сгенерированную функцию ikFunction. Заданное analyticalInverseKinematics analyticalIK объекта должна содержать допустимую кинематическую группу. Для получения информации об определении допустимых кинематических групп смотрите showdetails функция.

Синтаксис сгенерированной функции см. в ikFunction выходной аргумент.

Примеры

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Открыть Live Script

Сгенерируйте решения обратной кинематики (IK) закрытой формы для желаемого концевого эффектора. Загрузите предоставленную модель робота и проверьте детали о допустимых кинематических группах основы и конечных эффекторных тел. Сгенерируйте функцию для вашей желаемой кинематической группы. Проверьте различные строения для определенного положения концевого эффектора.

Модель робота

Загрузите модель робота ABB IRB 120 в рабочую область. Отобразите модель.

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

Аналитический IK

Создайте аналитический решатель IK. Показать подробности для 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

Проверьте кинематическую группу, в которой перечислены основы и конечного эффекторов. Для этого робота группа использует 'base_link' и 'tool0' тела, соответственно.

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

Сгенерируйте функцию

Сгенерируйте функцию IK для выбранной кинематической группы. Укажите имя функции, которое генерируется и сохраняется в текущей директории. 

generateIKFunction(aik,'robotIK');

Задайте требуемое положение концевого эффектора. Преобразуйте xyz-положение в однородное преобразование. 

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

Сгенерируйте строение для решения IK

Задайте однородное преобразование в сгенерированную функцию IK, которая генерирует все решения для желаемого положения end-effector. Отобразите первую сгенерированное строение, чтобы убедиться, что требуемое положение достигнуто.

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

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

Отображение всех решений IK закрытой формы последовательно.

figure;
numSolutions = size(ikConfig,1);

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

Открыть Live Script

Некоторые модели роботов имеют большие степени свободы (DOFs). Однако для достижения определенных конечных эффекторных положений требуется только шесть чИСЛО СТЕПЕНЕЙ СВОБОДЫ. Используйте analyticalInverseKinematics объект, который поддерживает роботов с шестью DOF, для определения различных действительных кинематических групп для этой модели робота с большим DOF. Используйте showdetails функция объекта для получения информации о модели.

Загрузка модели робота и генерация решателя IK

Загрузите модель робота в рабочую область и создайте analyicalInverseKinematics объект. Используйте showdetails объект 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 программно с помощью выхода showdetails функция объекта, opts. Выбранная группа использует левое плечо в качестве основы, левое запястье - в качестве концевого эффектора.

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

Сгенерируйте функцию IK для выбранной группы. 

generateIKFunction(aik,'willowRobotIK');

Решение аналитического IK

Задайте целевое положение end-effector с помощью случайным образом сгенерированного строения.

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

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

Решите для всех строений робота, которые достигают заданного положения end-effector с помощью сгенерированной функции IK. Чтобы игнорировать пределы соединений, задайте false как второй входной параметр.

ikConfig = willowRobotIK(expEEPose,false);

Чтобы отобразить целевое положение end-effector в мировой системе координат, получите преобразование из основы модели робота, а не основы кинематической группы. Отображение всех сгенерированных решений IK путем определения индексов для решения IK кинематической группы в векторе строения, 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 параметры

свернуть все

Решатель аналитической обратной кинематики, заданный как analyticalInverseKinematics объект.

Имя сгенерированной функции, заданное как строковый скаляр или вектор символов.

Пример: "jacoIKSolver"

Типы данных: char | string

Выходные аргументы

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Решатель IK для выбранной кинематической группы, возвращаемый как указатель на функцию. Функция генерирует решения закрытой формы и имеет следующие синтаксические опции:

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

Желаемое положение end-effector, заданное как матрица однородного преобразования 4 на 4. Чтобы сгенерировать матрицу преобразования из xyz-положения и ориентации кватерниона, используйте trvec2tform и quat2tform функций на соответствующих координатах и умножить получившиеся матрицы.

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

Типы данных: single | double

Усильте пределы соединений древовидной модели твердого тела, заданные как логический, 1 (true или 0 (false). Когда установлено значение falseрешатель игнорирует пределы соединений модели робота в свойстве RigidBodyTree analyticalInverseKinematics объект.

Типы данных: logical

Сортировка строений на основе расстояния от требуемого положения, заданная как логический, 1 (true или 0 (false).

Типы данных: logical

Ссылочное строение для решения IK, заданная как вектор n-element, где n - количество нефиксированных соединений в модели робота-древовидного твердого тела. Каждый элемент соответствует положению соединения как угол поворота в радианах для шарниров вращения или линейное расстояние в метрах для призматических соединений.

Типы данных: single | double

Расширенные возможности

.

См. также

Объекты

Функции

Введенный в R2020b

Документация по Robotics System Toolbox

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