payload

RTSX Help: add payload mass

payload

Add payload mass to end-effector of robot

Syntax

  • robot = payload(robot, m, p)

Input/output Arguments

  • robot — n-link robot data structure created with SerialLink( )
  • m — point mass
  • p — position to add payload

Description

robot = payload(robot, m, p) adds a payload with point mass m at position p in the end-effector coordinate frame.

Examples

-->exec('./models/mdl_puma560.sce',-1);
-->p560 = payload(p560, 2.5, [0 0 0.1]);

See also