Getting errors with code for peter corke

Question

0 个投票

I used petercorke to calculate joint torque with the following command. tau = R.rne(q, qd, qdd, grav, fext)

The following is my code and I got the following error even though I put m,rm,I information

Can you guys help me with this issue?

Error using SerialLink/rne_dh (line 46)
dynamic parameters (m, r, I) not set in link 1
L(1) = Link([0 0.11494 0 pi/2], 'standard', 'I', [0.0000883 0.00016261 0.00017855], 'm', 0.13, 'r', [0.00066653 0.00499854 0.06238723]);
L(2) = Link([0 0 0.13990619 0], 'standard', 'I', [0.0000883 0.00081990 0.00099097], 'm', 0.29765525, 'r', [0.00367492 0.01854848 0.06979806]);
L(3) = Link([0 0 0.25250579 0], 'standard', 'I', [0.00012668 0.00123639 0.00125373], 'm', 0.26643896, 'r', [0.00123746 0.00124098 0.11722665]);
R = SerialLink(L,'name', 'My Robot');
q = [0 pi/2 0];
qd = [0.001 0.001 0.001];
qdd = [0 0 0];
grav = [0 0 -9.81];
fext = [0 -10 0 0 0 0];
R.plot(q);
tau = R.rne(q, qd, qdd, grav, fext)