"m, r, and i" Parameters for Peter Corke's Robotics Toolbox

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Joe Bennet
Joe Bennet 2021-11-9
评论： Joe Bennet 2021-11-9
Getting "dynamic parameters (m, r, I) not set in link 1" error message, and have no idea what they are. My DH parameters have been set and are correct, any ideas?
Cheers
  2 个评论
Sargondjani
Sargondjani 2021-11-9
I think you need to be more specific what you are doing... otherwise its hard to guess whats going on.
Joe Bennet
Joe Bennet 2021-11-9
clc, clear, close all
I=5000; %Max iterations
L(1)= Link([0 75e-3 0 -pi/2], 'modified', 'm', [24e-3], 'r', [0 37.5e-3 0], 'I', [0 35 0]);
L(2)= Link([0 0 125e-3 0], 'modified', 'I', [0 0.15 0], 'm', 66e-3, 'r', [0 62.5e-3 0]);
L(3)= Link([0 0 72.1e-3 -pi/2], 'modified', 'I', [0 0.30 0], 'm', 21e-3, 'r', [0 36.05e-3 0]);
L(4)= Link([0 86.4e-3 0 -pi/2], 'modified', 'I', [0 0.20 0], 'm', 23e-3, 'r', [0 43.2e-3 0]);
L(5)= Link([0 0 40e-3 0], 'modified', 'I', [0 0.15 0], 'm', 11e-3, 'r', [0 20e-3 0]);
qn= [0, pi/4, -pi, pi/4, 0]; %Nominal, dexterous position
qz= [0, 0, 0, 0, 0]; %Zero angle
qr= [0, pi/2, -pi/2, 0, 0]; %Ready, straight & vertical
qs= [0, 0, -pi/2, 0, 0]; %Straight, straight & horizontal
G04= SerialLink(L, 'name', 'G04');
L.dyn()
This is my code, but I doesnt set the Mass, Center of Gravity or Inertia for the links. Hope you can help! :)

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