kin_irb120

Syntax

kin_irb(5)
kin_irb(6)

Description

kin_irb(5) gets the symbolic direct kinematics matrix for the robot irb-120, ignoring the last joint.
kin_irb(6) gets the symbolic direct kinematics matrix for the robot irb-120.

Examples

% Calculamos una determinada configuración de los 5 primeros ejes:
T=kin_irb120(5);
Unrecognized function or variable 'kin_irb120'.
syms t0 t1 t2 t3 t4
conf_home = double(subs(T,{t0, t1, t2, t3, t4},...
{0 , 0, 0, 0 , 0 }))
% Calculamos una determinada configuración de los 6 primeros ejes:
T=kin_irb120(6);
syms t0 t1 t2 t3 t4 t5
conf_home = double(subs(T,{t0, t1, t2, t3, t4, t5},...
{deg2rad(30) , 0, 0, 0 , 0 , deg2rad(-45)}))