RTANDEMO Animation demo
0001 %RTANDEMO Animation demo 0002 0003 %**************************animation******************************************** 0004 figure(2) 0005 echo on 0006 clf 0007 % 0008 % The trajectory demonstration has shown how a joint coordinate trajectory 0009 % may be generated 0010 t = [0:.056:2]'; % generate a time vector 0011 q = jtraj(qz, qr, t); % generate joint coordinate trajectory 0012 % 0013 % the overloaded function plot() animates a stick figure robot moving 0014 % along a trajectory. 0015 0016 plot(p560, q); 0017 % The drawn line segments do not necessarily correspond to robot links, but 0018 % join the origins of sequential link coordinate frames. 0019 % 0020 % A small right-angle coordinate frame is drawn on the end of the robot to show 0021 % the wrist orientation. 0022 % 0023 % A shadow appears on the ground which helps to give some better idea of the 0024 % 3D object. 0025 0026 pause % any key to continue 0027 % 0028 % We can also place additional robots into a figure. 0029 % 0030 % Let's make a clone of the Puma robot, but change its name and base location 0031 0032 p560_2 = p560; 0033 p560_2.name = 'another Puma'; 0034 p560_2.base = transl(-0.5, 0.5, 0); 0035 hold on 0036 plot(p560_2, q); 0037 pause % any key to continue 0038 0039 % We can also have multiple views of the same robot 0040 clf 0041 plot(p560, qr); 0042 figure 0043 plot(p560, qr); 0044 view(40,50) 0045 plot(p560, q) 0046 pause % any key to continue 0047 % 0048 % Sometimes it's useful to be able to manually drive the robot around to 0049 % get an understanding of how it works. 0050 0051 drivebot(p560) 0052 % 0053 % use the sliders to control the robot (in fact both views). Hit the red quit 0054 % button when you are done. 0055 echo off