replaceJoint

Make changes to an existing rigidBodyTree object. You can get replace joints, bodies and subtrees in the rigid body tree.

Load an ABB IRB-120T manipulator from the Robotics System Toolbox™ loadrobot. It is specified as a rigidBodyTree object.

manipulator = loadrobot("abbIrb120T");

View the robot with show and read the details of the robot using showdetails.

show(manipulator);
showdetails(manipulator)

Get a specific body to inspect the properties. The only child of the link_3 body is the link_4 body. You can copy a specific body as well.

body3 = getBody(manipulator,"link_3");
childBody = body3.Children{1}
body3Copy = copy(body3);

Replace the joint on the link_3 body. You must create a new Joint object and use replaceJoint to ensure the downstream body geometry is unaffected. Call setFixedTransform if necessary to define a transform between the bodies instead of with the default identity matrices.

newJoint = rigidBodyJoint("prismatic");
replaceJoint(manipulator,"link_3",newJoint);

showdetails(manipulator)

Remove an entire body and get the resulting subtree using removeBody. The removed body is included in the subtree.

subtree = removeBody(manipulator,"link_4")
show(subtree);

Remove the modified link_3 body. Add the original copied link_3 body to the link_2 body, followed by the returned subtree. The robot model remains the same. See a detailed comparison through showdetails.

removeBody(manipulator,"link_3");
addBody(manipulator,body3Copy,"link_2")
addSubtree(manipulator,"link_3",subtree)

showdetails(manipulator)