MATLAB Answers

show the axis of each joint

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Omri Ohayon
Omri Ohayon on 3 Feb 2019
Edited: Ali Murtatha Shuman on 13 Nov 2019
Hey guys, is there a way to show the axis of every joint of my robot?
here is my code:
dhparams = [
0 0 d1 0
a1 pi/2 0 0
a2 0 0 0
a3 0 0 0
0 pi/2 d5 0
IPA 0 0 0 ] ;
robot = robotics.RigidBodyTree;
L1 = robotics.RigidBody('L1');
jnt1 = robotics.Joint('jnt1','revolute');
L2 = robotics.RigidBody('L2');
jnt2 = robotics.Joint('jnt2','fixed');
L3 = robotics.RigidBody('L3');
jnt3 = robotics.Joint('jnt3','revolute');
L4 = robotics.RigidBody('L4');
jnt4 = robotics.Joint('jnt4','revolute');
L5 = robotics.RigidBody('L5');
jnt5 = robotics.Joint('jnt5','revolute');
L6 = robotics.RigidBody('L6');
jnt6 = robotics.Joint('jnt6','revolute');
setFixedTransform(jnt1,dhparams(1,:),'dh');
L1.Joint = jnt1;
addBody(robot,L1,'base');
setFixedTransform(jnt2,dhparams(2,:),'dh');
setFixedTransform(jnt3,dhparams(3,:),'dh');
setFixedTransform(jnt4,dhparams(4,:),'dh');
setFixedTransform(jnt5,dhparams(5,:),'dh');
setFixedTransform(jnt6,dhparams(6,:),'dh');
L2.Joint = jnt2;
L3.Joint = jnt3;
L4.Joint = jnt4;
L5.Joint = jnt5;
L6.Joint = jnt6;
addBody(robot,L2,'L1');
addBody(robot,L3,'L2');
addBody(robot,L4,'L3');
addBody(robot,L5,'L4');
addBody(robot,L6,'L5');
show(robot);
When I use show(robot), I want it to show me the axis and origin of every joint, is it possible?

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Answers (1)

Ali Murtatha Shuman
Ali Murtatha Shuman on 13 Nov 2019
Edited: Ali Murtatha Shuman on 13 Nov 2019
You can see it if you zoom in, or you can divide the lengths in your DH-matrix with som factor to make the whole robot smaller.
But is there any way to make the axis bigger???

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