rt_showlink - show link/robot data in detail[view code]

Calling Sequence

rt_showlink(link)

rt_showlink(robot)

Parameters

• link : link object. It describes the link kinematics and dynamics.
• robot : robot object. It describes the n-link manipulator kinematics and dynamics.

Description

This function displays in detail all the parameters, including all defined inertial parameters, of a link. All angles are in radians.

The second form provides this level of detail for all links in the specified manipulator.

Examples

   // load Puma 560 parameters
   exec <PATH>/models/rt_puma560.sce;

   // To show details of Puma link 2
   rt_showlink(p560.links(2));

   // To show details of all Puma links
   rt_showlink(p560);
   
  

See Also

rt_link,  rt_robot,  

Authors

original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa

Bibliography

Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32