The class constructor function.

Parameters

config	the configuration of the joints and links
base	the configuration of the floating base coordinates

Adds contact constraints for the robot manipulator.

Parameters

contact	the contact frame object
fric_coef	the friction coefficient
geometry	the geometry constant of the contact

Required fields of contact:

Optional fields of geometry:

• la —  the distance from the origin to the rolling edge along the positive x-axis
• lb —  the distance from the origin to the rolling edge along the negative x-axis
• La —  the distance from the origin to the rolling edge along the negative y-axis
• Lb —  the distance from the origin to the rolling edge along the positive y-axis
• RefFrame —  The frame describing the ground contact zero configuration.

Optional fields of fric_coef:

• mu —  the (static) coefficient of friction.
• gamma —  the coefficient of torsional friction

enforces fixed joints as holonomic constraints of the dynamical system of the robot manipulator

Parameters

fixed_joints	the list of fixed joints
load_path	the path from which the symbolic expressions for the input map can be loaded

Required fields of fixed_joints:

Configure the actuator information of the actuated joints.

The actuator configuration may include the inertia and gear ratio of the actuator.

Parameters

dofs	an object array or name cellstr of actuated joints
actuators	a structure array of actuator configuration

Required fields of dofs:

Set the symbolic expressions of the dynamics of the rigid body system.

Parameters

varargin

extra options

Note

!!! The minus sign !!! Fvec appears at the right hand side (typically -C(q,dq)dq - G(q) appears at the left hand side of the Euler-Lagrangian Equation)

References eval_math_fun().

Compute the forward kinematics of the robots using the coordinate configurations.

This function computes the kinematic tree structure of the multibody system, homogeneous transformation, and twists of the each coordinate frames.

Parameters

dofs	a structure array of coordinate configuration
links	a structure array of link configuration

Generated fields of obj:

Determines the base link of an array of rigid joints.

The base link is the link that is not a child link of any joints.

Note

if joints argument is not provided, it uses the default Joints property of the object.

Parameters

joints

an array of rigid joints

Return values

base	the name of the base link

Required fields of joints:

Determines the end effector link of an array of rigid joints.

The end-effector link is the link that is not a parent link of any joints.

Note

if joints argument is not provided, it uses the default Joints property of the object.

Parameters

joints

an array of rigid joints

Return values

terminals	the indices of the end effector coordinates
terminal_links	the indices of the end effector links

Required fields of joints:

Returns the symbolic representation of the body jacobians of coordinate frames.

Each coordiante

Note

Syntax for ont point

jac = getBodyJacobian(obj,{Link1,[0,0,0.1]})

Note

Syntax for multiple points

[jac1,jac2] = getBodyJacobian(obj,{Link1,[0,0,0.1]},{Link2,[0.2,0,0.1]})

Parameters

frame	the list of coordinate frame of the point
p	the offset of the point from the origin of the frame

Return values

J	the 6xnDof Jacobian matrix of a rigid coordinate frame

References eval_math_fun().

Returns the symbolic representation of the Cartesian positions of a rigid point specified by a coordinate frame and an offset.

Note

Syntax for ont point

getCartesianPosition(obj,pf,offset)

Note

Syntax for multiple points (offset should be np*3 matrix)

getCartesianPosition(obj,pfarray, offset)

Parameters

frame	the list of coordinate frame of the point
p	the offset of the point from the origin of the frame

Return values

pos	the 3-Dimensional SO(3) position vectors of the fixed rigid points

Returns the symbolic representation of the robot manipulator.

Return values

pos	the 3-Dimensional SO(3) position vector of the CoM of the system

References eval_math_fun().

Returns the symbolic representation of the Euler angles of a rigid link.

Note

Syntax for ont point

getEulerAngles(obj,pf,offset)

Note

Syntax for multiple points (offset should be np*3 matrix)

getEulerAngles(obj,pfarray, offset)

Parameters

frame	the list of coordinate frame of the point
p	the offset of the point from the origin of the frame

Return values

ang	the 3-dimensional Euler angles (roll,pitch,yaw) vector of the CoM of the system

Returns the indices of joints specified by the name string.

See also

getLinkIndices, joints

Parameters

joint_names

a cell array of strings of the DoF name

Return values

indices

position indices of joints in the obj.joints

References str_index().

Return the boundary values (limits) of the joint position/velocity variables, and torques.

Return values

bounds

the boundaries

Generated fields of bounds:

Returns the indices of links specified by the name string.

Parameters

link_names

a cell array of strings of the link name

Return values

indices

position indices of joints in the obj.joints

Returns the symbolic representation of the Euler angles of a rigid link.

Note

Syntax for ont point

getEulerAngles(obj,pf,offset)

Note

Syntax for multiple points (offset should be np*3 matrix)

getEulerAngles(obj,pfarray, offset)

Parameters

frame	the list of coordinate frame of the point
R	ang is computed as the relative Euler angles from frame to R
p	the offset of the point from the origin of the frame

Return values

ang	the 3-dimensional Euler angles (roll,pitch,yaw) vector of the CoM of the system

Returns the symbolic representation of the spatial jacobian of the point that is rigidly attached to the link with a given offset.

Note

Syntax for ont point

getSpatialJacobian(obj,pf,offset)

Note

Syntax for multiple points (offset should be np*3 matrix)

getSpatialJacobian(obj,pfarray, offset)

Parameters

frame	the list of coordinate frame of the point
p	the offset of the point from the origin of the frame

Return values

J	the 6xnDof Jacobian matrix of a rigid point

Return the total mass of the robot model.

Return values

mass	the total mass of the robot

Load the symbolic expression of dynamical equations from a previously save MX files.

Parameters

file_path	the path to export the file
skip_load_vf	skip loading the drift vectors
extra_fvecs	list of extra drift vectors

Remove contact constraints defined for the system.

Parameters

contact

the name of the contact

Required fields of contact:

The full path of the model configuration file.

Note

This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public

Matlab documentation of property attributes.

An array of rigid joints.

Note

This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public

Matlab documentation of property attributes.

An array of rigid links.

Note

This property has non-standard access specifiers: SetAccess = Protected, GetAccess = Public

Matlab documentation of property attributes.