Display * .stl file correctly using RTB

petercorke / robotics-toolbox-matlab

Robotics Toolbox for MATLAB

GNU Lesser General Public License v2.1

1.28k stars 445 forks source link

Display * .stl file correctly using RTB #44

Open Dps8 opened 5 years ago

Dps8 commented 5 years ago

I'm doing the 3D design of a cylindrical robotic arm and I want to import the CAD to Matlab to work with plot3d. What requirements should the * .stl files have to be able to visualize the arm in Matlab? How can I do it?

petercorke commented 5 years ago

Their coordinate system should be the link coordinate frame as determined by the Denavit-Hartenberg model of the robot. They should be named linkN.stl where N is 0, 1, 2, etc. Let me know how it goes.

Dps8 commented 5 years ago

In what scale does RTB work the dimensions of the robotic arm?The problem is that when I load a link and plot it does not show up well. Is it a problem of scale or is it some DH parameter that I declared wrong?

petercorke commented 5 years ago

The scale/dimensions of the STL model must be consistent with the lengths in the DH parameters. ie. if the DH parameters d, a are in metres, then the STL should be in metres.

Dps8 commented 5 years ago

If I declared the limits of the prismatic articulation, why do I have to declare the limits of the workspace?

petercorke commented 5 years ago

that’s a bug

On 6 Mar 2019, at 8:08 am, Dps8 notifications@github.com wrote:

If I declared the limits of the prismatic articulation, why do I have to declare the limits of the workspace?

— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/petercorke/robotics-toolbox-matlab/issues/44#issuecomment-469877698, or mute the thread https://github.com/notifications/unsubscribe-auth/ALQUUihT_KujSS_peDWgZiBsH2adX5qIks5vTurDgaJpZM4bF7mu.

Dps8 commented 5 years ago

Professor, do you know what could be the cause of this error?