Changing the simulation of a robot manipulator to be an Exo leg (from horizontally to vertically simulation)

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I am simulating a robot leg with 6DOF but it shows that it deals with it as a robot manipulator so the simulation as a robot arm simulated horizontally, but this is intend to show an exo leg and I want it to be vertically as a robot leg.
How can I change it so I can have the first frame(joint 1) which is the hip joint on top and the last frame( joint 6), which is the foot joint at the bottom of the simulation? I mean that the simulation will show as a leg in a vertical direction not as it is shown now (horizontally).
Thank you for your help and support!

Answers (1)

Karsh Tharyani
Karsh Tharyani on 11 Oct 2021
Hi Rabe,
You can try setting the fixed transform of the base joint (i.e., the hip joint) - by using the "setFixedTransform" on the joint corresponding to the "hip" body.

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