problem with seriallink/plot

[Constantin George Boanda]

Hello,

I`m trying to plot the robot in a gui axes.

I can get and send to function the axes handle, but when I plot in gui, it gives me an error.

The same if I create a figure, get the handle and send as parameter.

The function is:

function DH_plot%(h,q1,q2,q3,q4)

%h is the handle for the figure

L(1)=Link([0 15.5 1.2 pi/2]);

L(2)=Link([0 0 13.8 0]);

L(3)=Link([0 0 11.3 0]);

L(4)=Link([0 0 18.4 0]);

hob = SerialLink(L,'name','Hob');

hob.plot(h,[q1,q2,q3,q4]);

%hob.plot([0,0,0,0]);

end

and the command to execute is:

>> h=figure

h =

     1

>> gcf

ans =

     1

 

>> DH_plot(h,0,0,0,0)

Error using SerialLink/plot (line 200)

Insufficient columns in q

Error in DH_plot (line 8)

hob.plot(h,[q1,q2,q3,q4]);

Where to set the handle for the plot. I want to display this in a gui built with guide. on axes>

My mathlab version is R2014b. toolbox ver: release 9.10

Thank you.

Regards,

[Peter Corke]

The plot function doesn't support a figure/axis handle argument.  It will draw in the current axis though,

figure

subplot(121)

p560.plot(qz)

will draw the robot in the subplot.

[Constantin George Boanda]

Hello,

Thank you.

I sent axes handles and called in my function before the plots.

It works.

You are the best.

[dzmo...@gmail.com]

hi  there.

can you please send me the  photo of the code that you wrote because  i had the same problem  and i tried this solution but it didnt work

[dzmo...@gmail.com]

hi guys i have similar problem  but i couldn't solve it . i need help

this is the code that i wrote and  it gives me errors

>> L1=10;

L2=9;

L3=9;

L5=6.25;

L(1)=Link([0 L1 0 pi/2]);

>> L(2)=Link([0 0 L2 0]);

>> L(3)=Link([0 0 L3 0]);

>> L(4)=Link([0 0 0 pi/2]);

>> L(3)=Link([0 L5 0 0]);

>> 

>> 

>> R=SerialLink(L);

>>   

>> q1=0;q2=0;q3=0;q4=0;q4=0;q5=0;

>>  

>> 

>> R.plot([0 0 0 0 0])

Error using SerialLink/plot (line 205)

Insufficient columns in q

 

>> subplot(121)

>> p560.plot(qz)

Error using qz

Not enough input arguments.

 

>> figure(1)

p560.plot(qz)

Error using qz

Not enough input arguments.

[Erik van Oene]

I think you made a typo when constructing link 5

Erik

Op zondag 23 juli 2017 06:13:31 UTC+2 schreef dzmo...@gmail.com:

[dzmo...@gmail.com]

i asked one of my professors and he helped me figure it out. actually for my MatLab version (2016) i have to use "figure(1) command 1st before i use "R.plot" command.

Therefore when i tried this way it worked

>> L1=10;
L2=9;
L3=9;
L5=6.25;

L(1)=Link([0 L1 0 pi/2]);
>> L(2)=Link([0 0 L2 0]);
>> L(3)=Link([0 0 L3 0]);
>> L(4)=Link([0 0 0 pi/2]);

>> L(5)=Link([0 L5 0 0]);

>>
>>
>> R=SerialLink(L);
>>
>> q1=0;q2=0;q3=0;q4=0;q4=0;q5=0;
>>

>> figure (1)
>> R.plot([q1,q2,q3,q4,q5])

[fg]

Hello all, I am trying to make a robot move back and forth drawing a line from (10,10,5) to (20,15,5). I make DH Table as follow:

I am trying to utilize the code from a handout in class to do this. This code draws a line from (1,1,0) to (0,2,0). As of now, I know how move the z value to be 5. But from there, any type of adjustment I make to the code will not work. I try to extend link length to 10, I get this error:

addpath 'insert your respective path to rvctools folder here'

startup_rvc

L1=Link([0 5 1 0 ],'standard');

L2=Link([0 0 1 0 ],'standard');

L2.qlim=[10 20];

r=SerialLink([L1 L2]);

x=[];y=[];shoulder=[];elbow=[];

x0=1;y0=1;delta=0.1;        %initial position and increment of motion

T=[0 -1 0 x0;1 0 0 y0;0 0 1 0; 0 0 0 1];    %initial transformation matrix

xx0=x0/delta+1;

for i=1:xx0

    T(1,4)=x0-(delta*(i-1));

    T(2,4)=-T(1,4)+2;

    Ti=r.ikine(T, 'q0',[0 pi/4],'mask',[1 1 0 0 0 0], 'deg');        %inverse kinematics

    x(i)=T(1,4);

    y(i)=T(2,4);

    shoulder(i)=Ti(1)*(180/pi);

    elbow(i)=Ti(2)*(180/pi);

    angles=[shoulder' elbow'];

    x1(i)=cos(Ti(1));y1(i)=sin(Ti(1));

end

plot(x,y);axis([-5 5 -5 5 -5 5]);hold on% draw the trajectory

TTT=[(shoulder*pi/180)' (elbow*pi/180)'];plot(r,TTT,'delay',0.2,'loop')  

%animation

plot(x',y','-');axis([-5 5 -5 5]); %trajectory 

hold on

for ii=(n-1)/2:n-1   %plot the two links

    line([0 x1(ii)],[0 y1(ii)]);hold on;

    line([x1(ii) x(ii)],[y1(ii) y(ii)]); 

    hold on

end

grid

And here we get successful animation along line from (1,1,0) to (0,2,0)! But, I want (10,10,5) to (20,15,5)...

I get error when I try to adjust link lengths to 10 like this:

...

L1=Link([0 5 10 0 ],'standard');

L2=Link([0 0 10 0 ],'standard');

L2.qlim=[10 20];

r=SerialLink([L1 L2]);

x=[];y=[];shoulder=[];elbow=[];

x0=10;y0=10;delta=0.1;

...

Now it seems like its moving from (10, -10, 5) to (0, 0,5). I have a feeling that it involves creating a new transformation matrix, so I made this one from the DH Table above:

[0 0 1 5; 0 1 0 10; -1 0 0 0; 0 0 0 1]

and plugged it into T, and it did not work...

Any help would be appreciated please!

[Daniel Moshi]

Thank You very much for the feedback it worked !

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Regards,

Daniel Moshi