robotics system toolbox ... Undefined function or variable

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Seungkook Jun
Seungkook Jun 2017-9-19
评论： Seungkook Jun 2017-9-20
Dear,
Thank you in advance.
I tried to build robot object as follows.
% DH Parameters table for robot arm
DH =[ 152.4 -90 280 0;
-289.8 90 0 0;
1300.0 -90 0 0;
228.6 90 0 0;
1080.0 90 0 0;
168.9 -90 0 0;
241.3 0 0 0];
%
rbtree = robotics.RigidBodyTree;
body1 = robotics.RigidBody('b1');
jnt1 = robotics.Joint('jnt1','revolute');
setFixedTransform(jnt1,DH(1,:),'dh');
body1.Joint = jnt1;
addBody(rbtree,body1,'base')
and I got an error which
“Undefined function 'axang2tform' for input arguments of type 'double'”.
Undefined function 'axang2tform' for input arguments of type 'double'.
Error in robotics.Joint/jointTransform (line 380)
TJ = axang2tform([v, q]);
Error in robotics.Joint/transformBodyToParent (line 497)
obj.jointTransform(q)*obj.ChildToJointTransform;
Error in robotics.RigidBodyTree/forwardKinematics (line 1092)
Ttree{i} = body.Joint.transformBodyToParent(qi);
Error in robotics.RigidBodyTree/estimateWorkspace (line 1261)
TT = obj.forwardKinematics(qh);
Error in robotics.RigidBodyTree/addBody (line 242)
obj.estimateWorkspace();
Error in Test_Robotics_Toolbox (line 55)
addBody(rbtree,body1,'base')
I checked Matlab path and the path is correct. I suppose functions in ‘Coordinate Transformation’ are not accessible. May I ask your help?
Thank you
Seungkook Jun

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采纳的回答

Walter Roberson
Walter Roberson 2017-9-19
You appear to have a corrupt version of the Robotics System Toolbox. I suggest reinstalling it.
That is the sort of error I might expect to see if a newer Robotics System Toolbox was copied to R2015a or earlier.

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