Code covered by the BSD License
Highlights from
scm
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geo(a,b)
GEO(A,B) Geometric Operator
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h2j(H,v,o)
H2J(H, Manipulator, Option) Homogeneous Transformation to Jacobian Matrix
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hrx (c,o)
HRX(ANGLE) or HRX(ANGLE,"OPTION") Homogeneous Rotation over X-axis.
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hry (b,o)
HRY(ANGLE) or HRY(ANGLE,"OPTION") Homogeneous Rotation over Y-axis.
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hrz (a,o)
HRZ(ANGLE) or HRZ(ANGLE,"OPTION") Homogeneous Rotation over Z-axis.
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htx (x)
HTX(x) Homogeneous translation over X-axis
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hty (y)
HTY(y) Homogeneous translation over Y-axis
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htz (z)
HTZ(z) Homogeneous translation over Z-axis
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ik2q (M,o)
IK2Q(M, OPTION) Auxiliary: Inverse Kinematics
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qrand (n,q)
QRAND(Manipulator, Option(numeric joint variables))
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s2d (matrix,q,o)
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scm (robot,op1,op2)
SCM (MANIPULATOR,OPTION1,OPTION2) - Sistema Coordenado Movel - (Mobile Coordinate System)
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scm2dh(manipulator)
SCM2DH(MANIPULATOR) SCM parameters to modified D&H parameters.
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scm_cloos.m
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scm_kr100p.m
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scm_kr125.m
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scm_kr2150k.m
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scm_kr2150s.m
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scm_menu1.m
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scm_menu2.m
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scm_menu3.m
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scm_onelink.m
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scm_puma560.m
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scm_puma560x.m
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scm_puma600.m
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scm_scara.m
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scm_scorbot.m
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scm_stanford.m
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scm_uw.m
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scm_yosokawa.m
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scmdemo.m
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View all files
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| File Information |
| Description |
SCM is an alternative method for manipulating robot kinematics, based on the ?displacement? from the reference frame to the final frame, where the tool will be installed. It uses the well known format ?[X Y Z A B C] == [[position vector] [RPY angles]]? as input parameters. The SCM can also be used to obtain DH parameters for a large variety of manipulators. On MATLAB type ?scmdemo?.
If you are interested in getting to know a little more about this method, please refer to the attached documentation. |
| Required Products |
Symbolic Math Toolbox
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| MATLAB release |
MATLAB 6.5 (R13)
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| Comments and Ratings (1) |
| 06 Dec 2006 |
jack sia
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