frames not appearing using robotics system toolbox

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emile dimas
emile dimas 2019-10-15
评论： Alfredo Rodriguez Diaz 2020-3-29
Hi all,
I am using the rotics system toolbox and I want to create a robot , when I display my robot, there are no frames unlike the tutorial.
Does anyone know what is happening please and how I can fix it
here is my code:
clear all; clc;
dh=[0 60 0 pi/2;
0 0 -315 0;
0 0 -310 0 ;
0 0 -75 -pi/2];
body1 = rigidBody('body1');
jnt1 = rigidBodyJoint('jnt1','revolute');
jnt1.HomePosition = 0;
tform = dh2homogene(dh(1,:)); % function that gets the homegenous transformation given the denavit hartenberg table/row
setFixedTransform(jnt1,tform);
body1.Joint = jnt1;
robot = rigidBodyTree;
% body1.Mass = .5;
% body1.CenterOfMass = [0.5 0 0];% p/r au centre du link selon (x,y,z)
% body1.Inertia = [0.167 0.001 0.167 0 0 0];
%
addBody(robot,body1,'base')
body2 = rigidBody('body2');
jnt2 = rigidBodyJoint('jnt2','revolute');
jnt2.HomePosition = pi/6; % User defined
tform2 = dh2homogene(dh(2,:)); % User defined
setFixedTransform(jnt2,tform2);
body2.Joint = jnt2;% body2.Mass = .585;
% body2.CenterOfMass = [0 0 0];% p/r au centre du link selon (x,y,z)
% body2.Inertia = 0.0001*[4 4 4 0 0 0];
addBody(robot,body2,'body1'); % Add body2 to body1
body3 = rigidBody('body3');
body4 = rigidBody('body4');
jnt3 = rigidBodyJoint('jnt3','revolute');
jnt4 = rigidBodyJoint('jnt4','revolute');
tform3 = dh2homogene(dh(3,:)); % User defined
tform4 = dh2homogene(dh(4,:)); % User defined
setFixedTransform(jnt3,tform3);
setFixedTransform(jnt4,tform4);
jnt3.HomePosition = 0; % User defined
body3.Joint = jnt3;
body4.Joint = jnt4;
% % adding dynamics props
%
%
% body3.Mass = .55;
% body3.CenterOfMass = [0 0 0];% p/r au centre du link selon (x,y,z)
% body3.Inertia = 0.0001*[4 4 4 0 0 0];
%
% body4.Mass = .032;
% body4.CenterOfMass = [0 0 0];% p/r au centre du link selon (x,y,z)
% body4.Inertia = 0.0001*[4 4 4 0 0 0];
addBody(robot,body3,'body2'); % Add body3 to body2
addBody(robot,body4,'body3'); % Add body4 to body3
bodyEndEffector = rigidBody('endeffector');
tform5 = trvec2tform([0, 0, 0]); % User defined
setFixedTransform(bodyEndEffector.Joint,tform5);
addBody(robot,bodyEndEffector,'body4');
config = homeConfiguration(robot);
% tform = getTransform(robot,config,'endeffector','base');
% save('robot')
show(robot)

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采纳的回答

Sebastian Castro
Sebastian Castro 2019-11-12
Maybe the frames have a default size that is much smaller than the robot. If you divide the distance values of the DH parameters by say 1000, do the frames show up?
- Sebastian

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