Re: [Robotics Toolbox] Out of memory?

[Muhammad Shakeel]

Step 1: Go to Preferences -> General -> Java Heap Memory and increase the memory size and then restart the MATLAB again.

Step 2: If it still gives the error and does not work increase your RAM.

On Wed, Apr 15, 2015 at 1:30 PM, Andrea Molina <andym...@googlemail.com> wrote:

I created a six jointed robot, which has 6 revolute joints. Now I want to plot it, but I get the out of memory error, how can this be? I am working in a 64bit computer with a i5 processor. Am I doing something wrong?

%%Definition des KUKA KR500 Roboter

%Gelenke

L1 = Link('d', -1045, 'a', 500, 'alpha', pi/2);

L1.isrevolute;

L2 = Link('d', 0, 'a', 1300, 'alpha', 0);

L2.isrevolute;

L3 = Link('d', 0, 'a', 0, 'alpha', pi/2);

L3.isrevolute;

L4 = Link('d', -1025, 'a', 0, 'alpha', -pi/2);

L4.isrevolute;

L5 = Link('d', 0, 'a', 0, 'alpha', pi/2);

L5.isrevolute;

L6 = Link('d', -300, 'a', 0, 'alpha', pi);

L6.isrevolute;

G = [0;0;9.81];

BASE = [ 0 0 1 0 ;

0 1 0 0 ;

1 0 0 0 ;

0 0 0 1 ;];

KUKA = SerialLink([L1, L2, L3, L4, L5, L6], 'name', 'KR500', 'base', BASE);

q = [0 0 0 0 0 0];

>> KUKA.plot(q);
??? Out of memory. Type HELP MEMORY for your options.

Error in ==> SerialLink.plot>create_tiled_floor at 575
    Z = opt.floorlevel*ones( numel(yt), numel(xt));

Error in ==> SerialLink.plot at 245
            create_tiled_floor(opt);

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[Andrea Molina]

Thanks, I just found my error, I should work with meters insted of milimeters.

[Peter Corke]

The issue is the floor tiles which default to a size of 0.2 units.  This is good for most of the RTB models but not for your case.  You can set default plot options for the robot by

KUKA = SerialLink([L1, L2, L3, L4, L5, L6], 'name', 'KR500', 'base', BASE, ‘plotopt’, {’notiles’});

to turn off the tiles, or

KUKA = SerialLink([L1, L2, L3, L4, L5, L6], 'name', 'KR500', 'base', BASE, ‘plotopt’, {’tilesize’, 100});

to make the tiles a more sensible size.

peter

[Erik van Oene]

Make sure your base frame is right handed.

Erik

Op donderdag 16 april 2015 04:34:56 UTC+2 schreef Peter Corke: