How to set the center of mass of a prismatic joint?

Question

Valeria Leto 2021-4-23

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/811250-how-to-set-the-center-of-mass-of-a-prismatic-joint

回答： Yiping Liu 2021-4-25

Hi! How can I set the Center of mass of a link with a prismatic joint? Is my code correct?

%SCARA 
a1=0.2;
a2=0.25;
d3=0.2;
dhparams = [a1   	0	 0   	0  
            a2      pi   0      0
            0       0    d3      0
            0       0    0      0];
robot_reale = rigidBodyTree('DataFormat','row');
.....
body3 = rigidBody('body3');
jnt3 = rigidBodyJoint('jnt3','prismatic');
setFixedTransform(jnt3,dhparams(3,:),'dh');
body3.Joint = jnt3;
body3.Mass = 5;
body3.CenterOfMass = [0 0 d3/2];
body3.Inertia = [0.05 0.001 0.005 0 0 0];
addBody(robot_reale,body3,'body2')