How to get two links to always be parallel to each other as my robot model moves

Question

Challen Enninful Adu 2021-5-7

0
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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/824435-how-to-get-two-links-to-always-be-parallel-to-each-other-as-my-robot-model-moves

回答： Karsh Tharyani 2021-9-17

So I have a 3 link robot leg in which the 1st link and the 3rd link around connect with a 4-bar linkage so that they always move parallel to each other. I have my robot leg model as a URDF that I import to matlab and work with using the robotic system toolbox. I saw in the matlab documentation that the

URDF tag is not supported, which is what one would normally use to simulate two links being parallel by having one joint angle be the same as another joint angle at all times. I was wondering if there was a way to manually enforce a similar constraint in matlab so I can get the intended robot behaviour.