generateIKFunction

Сгенерируйте функцию для обратной кинематики замкнутой формы

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

свернуть все

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

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

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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

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Введенный в R2020b
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