- [1, 1, 0, 0, 0, 0] is the mask vector 'mask'
- [rad1, rad2] is the initial joint configuration 'q0'
Robotics toolbox - why this error?
14 visualizaciones (últimos 30 días)
Mostrar comentarios más antiguos
Za Ka
el 9 de Nov. de 2017
Respondida: Youssef Ben Dhiab
el 28 de Nov. de 2017
L(1) = Link([0, 0, 200, 0], 'R'); L(2) = Link([0, 0, 230, 0], 'R');
R = SerialLink(L, 'name', 'two link');
R.plot([0.5, 0.7])
R.teach();
T = transl(0.4, 0.5, 0.6); q = R.ikine(T, [rad1, rad2], [1, 1, 0, 0, 0, 0]);
_ Error using SerialLink/ikine (line 164) Number of robot DOF must be >= the same number of 1s in the mask matrix Error in neki (line 26) q = R.ikine(T, [rad1, rad2], M);
0 comentarios
Respuesta aceptada
Youssef Ben Dhiab
el 28 de Nov. de 2017
Hi Za Ka, You should specify what are your inputs:
So, change the last line like that : I = R.ikine(Td, 'q0', [rad1, rad2], 'mask',[1, 1, 0, 0, 0, 0]) It should work. If it didn't you have to change the initial pose [0, 0] by some other values like [pi/2, pi] so that it can converge after less than 1000 iterations.
0 comentarios
Más respuestas (0)
Ver también
Categorías
Más información sobre Robotics System Toolbox en Help Center y File Exchange.
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!