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--- ece4560:maniplots [2015/02/25 21:19] – [Lynx6] pvela
+++ ece4560:maniplots [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 15: / Line 15: @@
 planarRX_display(alphaJoints, linkLens, gripLen);
 </code>
-although the second and third arguments are optional.  The revolute joint variables are given in radians. For each of them, it is possible to give X+1 joint coordinates; the additional joint value is a length  that specifies the gripper opening width (it defaults to some half-open state if not passed).  Suppose that you had run ''ode45'' or some other numerical integrator in Matlab and want to visualize the resulting simulation, then the following should work:
+although the second and third arguments are optional.  The revolute joint variables are given in radians. For each of them, it is possible to give X+1 joint coordinates; the additional joint value is a length  that specifies the gripper opening width (it defaults to some half-open state if not passed). An example invocation for the ``planarR2_display`` function is
+<code matlab>
+planarR2_display([pi/4; pi/8]);
+</code>
+Note that the argument is a vertical/column vector.  It will not work otherwise.  The optional arguments can be either row- or column- vectors:
+<code matlab>
+planarR2_display([pi/4; pi/8], [3/4, 3/4]);
+</code>
+or
+<code matlab>
+planarR2_display([pi/4; pi/8], [3/4; 3/4], 1/6);
+</code>
+Suppose that you had run ''ode45'' or some other numerical integrator in Matlab and want to visualize the resulting simulation, then the following should work:
 <code matlab>
 nframes = 100;
 tvect = linspace(ti,tf,nframes);
 for tT = tvect
-  alphaT = interp1(tsol, alphasol, tT);
+  alphaT = transpose(interp1(tsol, alphasol, tT));
   planarRX_display(alphaT, ll, gl);
 end
@@ Line 35: / Line 47: @@
 ------------------
-The simplest manipulator to be used in the lab portion of the course is called **piktul** as named by the student who helped me design it.  It is a basic instantiation of a SCARA manipulator; one that we could create using laser cut parts and RC servo motors. Piktul is a planar R3 manipulator where the last joint angle has no length, however it can also actuate vertically meaning that it can pick up and place things in a roughly planar landscape (you can think of it as being able to manipulate things at different heights, but within a horizontal slice).  More technically the workspace is SE(2) x |R.
+The simplest manipulator to be used in the lab portion of the course is called **piktul** as named by the student who helped me design it.  It is a basic instantiation of a SCARA manipulator; one that we could create using laser cut parts and RC servo motors. Piktul is a planar R3 manipulator where the last joint angle has no length, however it can also actuate vertically meaning that it can pick up and place things in a roughly planar landscape (you can think of it as being able to manipulate things at different heights, but within a horizontal slice).  More technically the workspace is SE(2) x |R. It is kinematically sufficient when considering manipulation tasks in SE(2).
 The display function requires the SE3 class file to have been minimally coded in order to work.  Minimal coding means the times, mtimes, leftact, and inv member functions.  The easiest is to just invoke it with joint angles only and let the optional arguments assume the default values:
@@ Line 45: / Line 57: @@
 piktul_display([1.25; 25; -35; 80; 0.75]);
 </code>
-which sets the height to 1.25, the revolute joints to (25, -35, 80), and the gripper to be 0.75 inches open.  The piktul manipulator should be displayed with that joint configuration.  The joint vector should be a column-vector and the revolute angles should be in degrees.
+which sets the height to 1.25, the revolute joints to (25, -35, 80), and the gripper to be 0.75 inches open.  The piktul manipulator should be displayed with that joint configuration.  The joint vector should be a column-vector and the revolute angles should be in degrees with translational/distance variables in inches.
 Matlab code: {{ECE4560:piktul_display.m| display}}
@@ Line 61: / Line 73: @@
 Matlab code: {{ECE4560:lynx6_display.p | display}}
+===== Elbow 6R =====
+-----------------
+The 6R elbow manipulator (6R means 6 revolute joints) is a kinematically sufficient manipulator for SE(3).
+It is one of the most common designs found in industry (at least when working with kinematically sufficient manipulators).
+<code matlab>
+elbow6R_display([10;40;50;50;-30;4]);
+</code>
+The joint vector should be a column-vector and the revolute angles should be in degrees.  The first six joint coordinates are for revolute joints (degrees) and the sixth coordinate is the gripper opening (inches).
+Matlab code: {{ECE4560:elbow6R_display.p | display}}
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 ;#;
-[[: | Main ]]
+[[ECE4560:start | ECE4560]] -- [[: | Main ]]
 ;#;