0
$\begingroup$

I've worked out the T matrix of the tip (position and orientation) with respect to the base frame of a 6 DoF robot for 2 seconds at 1kHz.

So the size of the total T matrix is 4*4*1000.

How can I animate it with MATLAB? Just simple simulation showing the tip frame movement. Like this (not necessary showing the position in numbers): example

from here

Thanks.

$\endgroup$
1
$\begingroup$

suppose you calculate the positions of your joints $p_i, i=1\ldots6$ using your homogeneous matrices.

The best solution in my experience is to plot the initial configuration e.g. like this:

// calc p for time t=0
f=figure(1);
plot3([0, p_1(1)], [0, p_1(2)], [0, p_1(3)]);
hold on;
plot3([p_1(1), p_2(1)], [p_1(2), p_2(2)], [p_1(3), p_2(3)])
.... // for all links

the thing is now, if you want to have a smooth animation, it is a bad idea to call the plot command each time because it needs some time. The better solution is to update the coordinates of your figure.

// in a for loop i=1:length of you time vector
// calc p for time t=i*deltaT
set(f.Children(x), 'XData', [p_1(1), p_2(1)], 'YData', [p_1(2), p_2(2)], 'ZData', [p_1(3), p_2(3)])

where you have to figure out the correct child of you figure handle f, you can just hop trough the structure of f to find the right children.

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.