Link movement with respect to motion sensor data
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Ajay Raj K on 14 Dec 2021
Answered: Karsh Tharyani on 24 Mar 2023
I am trying to simulate a chain of links links from the motion sensor data that is generated realtime. The generated data is in the format of Euler angles. I would like to visualise the link motion in matlab using the relevant toolbox (I assume robotic toolbox helps). But I am not sure where to knock. If someone can guide me how to approach the problem, or rather, where to look for similar problems, it would be very helpful. Thanks in advance.
Karsh Tharyani on 24 Mar 2023
You can model the leg as a rigidBodyTree. Given this is a serial linkage, with a configuration vector representing the joint position angles, you can simply call the show function on the rigidBodyTree to visualize the positions of the linkages.
Here are is a reference page in our Documentation which should help you get started:
- To add visual geometries to your rigid body tree refer to the addVisual function https://www.mathworks.com/help/robotics/ref/rigidbody.addvisual.html?s_tid=doc_ta
I hope this helps.
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