RobotInfo

RTSX Help: Display robot information

RobotInfo

RobotInfo( ) is a function to display information of a robot model created by SerialLink( ) .

Syntax

  • RobotInfo(robot)

Input Arguments

Output Arguments

  • none.

Description

RobotInfo( ) prints essential information of a robot model, such as name, manufacturer, DH parameters, etc., in Scilab console window.

Examples

-->exec('./models/mdl_puma560.sce',-1);
-->RobotInfo(p560)
 
================= Robot Information =====================
Robot name: Puma 560
Manufacturer: Unimation
Number of joints: 6
Configuration: RRRRRR
Method: Standard DH
+---+-----------+-----------+-----------+-----------+
| j |   theta   |      d    |     a     |   alpha   |
+---+-----------+-----------+-----------+-----------+
| 1 |    q1     |    0.00   |   0.00    |   1.57    |
| 2 |    q2     |    0.00   |   0.43    |   0.00    |
| 3 |    q3     |    0.15   |   0.02    |   -1.57    |
| 4 |    q4     |    0.43   |   0.00    |   1.57    |
| 5 |    q5     |    0.00   |   0.00    |   -1.57    |
| 6 |    q6     |    0.00   |   0.00    |   0.00    |
+---+-----------+-----------+-----------+-----------+
Gravity =  
    0.    
    0.    
    9.81  
Base =  
    1.    0.    0.    0.  
    0.    1.    0.    0.  
    0.    0.    1.    0.  
    0.    0.    0.    1.  
Tool =  
    1.    0.    0.    0.  
    0.    1.    0.    0.  
    0.    0.    1.    0.  
    0.    0.    0.    1.  
Comment: viscous friction; params of 8/95

See Also