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How to create a rigid body in MATLAB?
Each rigidBody has a rigidBodyJoint object attached to it that defines how the rigid body can move. Rigid bodies are assembled into a tree-structured robot model using rigidBodyTree. Set a joint object to the Joint property before calling addBody to add the rigid body to the robot model.
How to add rigid body simulation to entire group?
Select your group, find the Physics panel in the 3D Viewport, marked Rigid Body Tools, and press the Add Active button there. Change your settings appropriately for the selected object that you would like to apply to the group, and then in the Rigid Body Tools just below the Add Active, in the Object section select Copy from Active.
What are the parameters for a rigid body robot?
The DH parameters define the geometry of the robot with relation to how each rigid body is attached to its parent. For convenience, setup the parameters for the Puma560 robot in a matrix [1].
How does the rigidbody act under the control of Physics?
See in Glossary to act under the control of physics. The Rigidbody can receive forces and torque to make your objects move in a realistic way.
Call addBody to attach the first body joint to the base frame of the robot. Create and add other rigid bodies to the robot. Specify the previous body name when calling addBody to attach it. Each fixed transform is relative to the previous joint coordinate frame.
How to calculate joint angles in robot MATLAB?
To use the dynamics-related functions, set the DataFormat property to “row” or “column”. For a given rigid body tree model, you can also use the robot model to calculate joint angles for desired end-effector positions using the robotics inverse kinematics algorithms.
How to change the name of a joint in MATLAB?
Joint name, returned as a string scalar or character vector. The joint name must be unique to access it off the rigid body tree. If the rigid body that contains this joint is added to a robot model, the joint name must be changed by replacing the joint using replaceJoint. Position limits of the joint, specified as a vector of [min max] values.
How to assign a joint object to a rigid body?
When building a rigid body tree structure with rigidBodyTree, you must assign the Joint object to a rigid body using the rigidBody class. The different joint types supported are: