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How to set the center of mass of a prismatic joint?

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Valeria Leto
Valeria Leto on 23 Apr 2021
Answered: Yiping Liu on 25 Apr 2021
Hi! How can I set the Center of mass of a link with a prismatic joint? Is my code correct?
%SCARA
a1=0.2;
a2=0.25;
d3=0.2;
dhparams = [a1 0 0 0
a2 pi 0 0
0 0 d3 0
0 0 0 0];
robot_reale = rigidBodyTree('DataFormat','row');
.....
body3 = rigidBody('body3');
jnt3 = rigidBodyJoint('jnt3','prismatic');
setFixedTransform(jnt3,dhparams(3,:),'dh');
body3.Joint = jnt3;
body3.Mass = 5;
body3.CenterOfMass = [0 0 d3/2];
body3.Inertia = [0.05 0.001 0.005 0 0 0];
addBody(robot_reale,body3,'body2')

Accepted Answer

Yiping Liu
Yiping Liu on 25 Apr 2021
The center of mass is a property on the rigidBody object and is not related to what type of joint this rigid body has.

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