Robot

Class representing a generic open chain robotic manipulator.

Kind: global class

• Robot
  • new Robot(_linkInfo)
  • .config(c)
  • .catch(object)
  • .release(object)
  • .fkm(n, q) ⇒
  • ._jac_geo(axis) ⇒
  • .create_kuka_kr5() ⇒
  • .create_epson_t6() ⇒

new Robot(_linkInfo)

Creates a generic open chain robotic manipulator.

Param	Type	Description
_linkInfo	object	5xN matrix representing the DH parameters that describe the robot.

robot.config(c)

Sets robot configuration.

Kind: instance method of Robot

Param	Type	Description
c	object	math.js column matrix representing the robot configuration.

robot.catch(object)

Makes robot catch a scene object.

Kind: instance method of Robot

Param	Type	Description
object	object	Scene object to be catched.

robot.release(object)

Makes robot release a scene object.

Kind: instance method of Robot

Param	Type	Description
object	object	Scene object to be released.

robot.fkm(n, q) ⇒

Calculates the forward kinematics of the robot.

Kind: instance method of Robot
Returns: 4x4 math.js homogeneous transformation matrix representing the forward kinematics.

Param	Type	Description
n	number	DH referential for which the forward kinematics will be calculated.
q	object	Configuration of the robot for the calculation of the forward kinematics.

robot._jac_geo(axis) ⇒

Calculates the geometric jacobian.

Kind: instance method of Robot
Returns: 6xN math.js matrix representing the geometric jacobian.

Param	Type	Description
axis	number	DH referential for which the geometric jacobian will be calculated.

robot.create_kuka_kr5() ⇒

Creates a KUKA KR5.

Kind: instance method of Robot
Returns: Robot object configured as a KUKA KR5.

robot.create_epson_t6() ⇒

Creates an Epson T6.