Re: Robotics toolbox- qlim and offset

[Peter Corke]

 53     case 'offset',
 54         L = r.link;
 55         for i=1:r.n,
 56             L{i}.offset = v(i);
 57         end
 58         r.link = L;
 59     case 'qlim',
 60         if numrows(v) ~= r.n,
 61             error('insufficient rows in joint limit matrix');
 62         end
 63         L = r.link;
 64         for i=1:r.n,
 65             L{i}.qlim = v(i,:);
 66         end
 67         r.link = L;

Lines 58 and 67 are missing in the current release.  So the values are being updated in the link objects but not being updated in the robot object.

Thanks and sorry for the inconvenience.  Be aware the the limits really don't do much apart from letting you ask if a particular set of joint angles is within the limits or not.  offsets are used throughout.

peter

On 29/7/09 2:24 PM, Ben Mercer wrote:

Hello Peter,

 

I have been trying out the robotics toolbox with the ultimate intention of using it to model disk drive testing automation. However I have run into a few snags.

 

Specifically, I can't seem to assign values to the qlim and offset parameters of a robot object. Here is an example:

 

>> p560.offset = [1 1 1 1 1 1]';
>> p560.offset

 

ans =

 

     0
     0
     0
     0
     0
     0

 

>> p560.qlim = [0 0 0 0 0 0; 1 1 1 1 1 1]';
>> p560.qlim

 

ans =

 

     []

 

Do you know why these assignments don't seem to be working?

 

Thanks in advance for your help.

 

With Regards

Ben Mercer

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