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jhavl / robotacademy-code

Code Translations for Robot Academy
MIT License
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Coordinates not lining up correctly in mathworks #11

Open Tjeard0 opened 1 year ago

Tjeard0 commented 1 year ago

Will Update to find which specific lines are causing this to occur

the coordinates produced in the file don't line up with the robotics system toolbox

For Files:

Velocity of a 6 joint robot arm - translation

line 13: J = geometricJacobian(p560,config,'link6')

produces different results to: J = p560.jacobe(qn)

Velocity of a 6 joint robot arm - rotation

line 16: T = getTransform(p560,config,'link7')

produces different results to: T = p560.fkine(qn)

line 19-21: 

config(1) = config(1)+0.01;

Td = getTransform(p560,config,'link7')

produces different results to: Td = p560.fkine(qn + [0.01 0 0 0 0 0])

Tobias-Fischer commented 9 months ago

@Tjeard0 - could you please update here to include the lines that are causing this issue, if you can?

Tjeard0 commented 8 months ago

I have now added where the issues are coming from

Tobias-Fischer commented 8 months ago

Where @Tjeard0 ?

Tjeard0 commented 8 months ago

Ah sorry, I had added in the line numbers, ill fix that now and add the functions