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Prismatic.m
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Prismatic.m
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%Prismatic Robot manipulator prismatic link class
%
% A subclass of the Link class for a prismatic joint defined using standard
% Denavit-Hartenberg parameters: holds all information related to a robot
% link such as kinematics parameters, rigid-body inertial parameters, motor
% and transmission parameters.
%
% Constructors::
% Prismatic construct a prismatic joint+link using standard DH
%
% Information/display methods::
% display print the link parameters in human readable form
% dyn display link dynamic parameters
% type joint type: 'R' or 'P'
%
% Conversion methods::
% char convert to string
%
% Operation methods::
% A link transform matrix
% friction friction force
% nofriction Link object with friction parameters set to zero%
%
% Testing methods::
% islimit test if joint exceeds soft limit
% isrevolute test if joint is revolute
% isprismatic test if joint is prismatic
% issym test if joint+link has symbolic parameters
%
% Overloaded operators::
% + concatenate links, result is a SerialLink object
%
% Properties (read/write)::
%
% theta kinematic: joint angle
% d kinematic: link offset
% a kinematic: link length
% alpha kinematic: link twist
% jointtype kinematic: 'R' if revolute, 'P' if prismatic
% mdh kinematic: 0 if standard D&H, else 1
% offset kinematic: joint variable offset
% qlim kinematic: joint variable limits [min max]
%-
% m dynamic: link mass
% r dynamic: link COG wrt link coordinate frame 3x1
% I dynamic: link inertia matrix, symmetric 3x3, about link COG.
% B dynamic: link viscous friction (motor referred)
% Tc dynamic: link Coulomb friction
%-
% G actuator: gear ratio
% Jm actuator: motor inertia (motor referred)
%
% Notes::
% - Methods inherited from the Link superclass.
% - This is reference class object
% - Link class objects can be used in vectors and arrays
%
% References::
% - Robotics, Vision & Control, P. Corke, Springer 2011, Chap 7.
%
% See also Link, Revolute, SerialLink.
% Copyright (C) 1993-2017, by Peter I. Corke
%
% This file is part of The Robotics Toolbox for MATLAB (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% RTB is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Leser General Public License
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
%
% http://www.petercorke.com
classdef Prismatic < Link
methods
function L = Prismatic(varargin)
%Prismatic.Prismatic Create prismatic robot link object
%
% L = Prismatic(OPTIONS) is a prismatic link object with the kinematic and dynamic
% parameters specified by the key/value pairs using the standard
% Denavit-Hartenberg conventions.
%
% Options::
% 'theta',TH joint angle
% 'a',A joint offset (default 0)
% 'alpha',A joint twist (default 0)
% 'standard' defined using standard D&H parameters (default).
% 'modified' defined using modified D&H parameters.
% 'offset',O joint variable offset (default 0)
% 'qlim',L joint limit (default [])
% 'I',I link inertia matrix (3x1, 6x1 or 3x3)
% 'r',R link centre of gravity (3x1)
% 'm',M link mass (1x1)
% 'G',G motor gear ratio (default 1)
% 'B',B joint friction, motor referenced (default 0)
% 'Jm',J motor inertia, motor referenced (default 0)
% 'Tc',T Coulomb friction, motor referenced (1x1 or 2x1), (default [0 0])
% 'sym' consider all parameter values as symbolic not numeric
%
% Notes::
% - The joint extension, d, is provided as an argument to the A() method.
% - The link inertia matrix (3x3) is symmetric and can be specified by giving
% a 3x3 matrix, the diagonal elements [Ixx Iyy Izz], or the moments and products
% of inertia [Ixx Iyy Izz Ixy Iyz Ixz].
% - All friction quantities are referenced to the motor not the load.
% - Gear ratio is used only to convert motor referenced quantities such as
% friction and interia to the link frame.
%
% See also Link, Prismatic, RevoluteMDH.
L = L@Link('prismatic', varargin{:});
if nargin == 0
L.d = [];
end
if isempty(L.theta)
L.theta = 0;
end
assert(isempty(L.d), 'd cannot be specified for a prismatic link');
L.jointtype = 'P';
end
end
end