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Path: Dynamics/Robotics
% Draw a SCARA.
The SCARA acronym stands for Selective Compliance Assembly Robot Arm
or Selective Compliance Articulated Robot Arm.
Type DrawSCARA for a demo.
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Form:
d = DrawSCARA( 'defaults' )
DrawSCARA( 'initialize', d )
m = DrawSCARA( 'update', x )
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Inputs
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x (4,:) [theta1;theta2;d4;theta4]
or
d (1,1) Data structure for dimensions
.a1 (1,1) Link arm 1 joint to joint
.a2 (1,1) Link arm 2 joint to joint
.b (1,3) Box dimensions [x y z] See Box
.z1 (1,1) Z position of link 1 and link2
.l1 (1,5) Link arm 1 dimensions [x y z t d] See UChannel
.l2 (1,3) Link arm 2 dimensions [x y z] See Box
.c1 (1,2) Cylinder 1 [r l]
.c2 (1,2) Cylinder 2 [r l]
.c3 (1,2) Cylinder 2 [r l]
.c4 (1,2) Cylinder 2 [r l]
.l4 (1,5) Hand dimensions [x y z t d] See UChannel
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Outputs
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m (1,:) If there is an output it makes a movie
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Tsai, Lung-Wen, "Robot Analysis," Wiley, p. 112.
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Common: ComponentModels/Box Common: ComponentModels/Frustrum Common: ComponentModels/UChannel Common: Graphics/NewFig Common: Graphics/XLabelS Common: Graphics/YLabelS Common: Graphics/ZLabelS Math: Linear/Mag
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