I am working on a 7 DOF serial manipulator and was trying to use ikine to get the joint coordinates for simple 2 DOF robot.
Even though I am using the masking vector as [ 1 1 0 0 0 0 ]
, I am getting error stating:
Number of robot DOF must be >= the same number of 1s in the mask matrix
This is my 2 DOF robot
L1 = Link('d', 0, 'a', 1, 'alpha', 0);
L1.m=50;
L1.r=[0.5,0,0];
L1.I=[0,0,0;0,0,0;0,0,10];
L1.G=1;
L1.Jm=0;
L2=Link(L1);
r2=SerialLink([L1,L2]);
r2.name='POLIrobot';
r2.gravity=[0;9.81;0];
q0=r2.ikine([eye(3),[0.2;0;0];[0,0,0,1]],[0,0],[1 1 0 0 0 0]);
Can anyone please help and explain why is it happening?