Question on the "Plan a Reaching Trajectory With Multiple Kinematic Constraints" example

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Paolo Rosettani 2020-11-23

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https://ww2.mathworks.cn/matlabcentral/answers/659148-question-on-the-plan-a-reaching-trajectory-with-multiple-kinematic-constraints-example

评论： Yiping Liu 2020-12-3

采纳的回答： Karsh Tharyani

Hi,

I'm learning this Mathworks' example code:

Plan a Reaching Trajectory With Multiple Kinematic Constraints - MATLAB & Simulink - MathWorks Italia

In this part of the code:

the TargetPoint is set equal to [0, 0, 100] (from constraintAiming's Documentation, that correspond to the "iiwa_link_ee" [x y z] axis)

The question is: Why 100? What this value means?

Thank you in advance!

Paolo Rosettani.

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Paolo Rosettani 2020-12-1

BraccioArm.zip

Here you have the code if you want to try it.

you can find the IK constraints inside the "CinematicaInv.m" function.

Yiping Liu 2020-12-3

在 MATLAB Online 中打开

Try

alignWithCup.TargetPoint = [0, 0, 100]

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采纳的回答

Karsh Tharyani 2020-12-1

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Hi Paolo,

The purpose of providing this constraint is to ensure that the "iiwa_link_ee" frame's (or "EndEffector" body's) z-axis is almost parallel to robot's base's z-axis (note that when "ReferenceBody" is ' ' it implies that the body is the base).

Since the target point is defined with respect to the base of the robot ("ReferenceBody"), and is way above the origin of the base body's frame along the z-axis, the two z-axes are almost parallel. You could keep it 1000 or any high number to obtain a similar effect.

I hope that answers your question.

Best,

Karsh