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‎arm_dh.html

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@@ -1271,12 +1271,12 @@ <h2>DHRobot<a class="headerlink" href="#dhrobot" title="Permalink to this headli
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
1274-
<span class="go">array([[ 6.2736, -1.3785, 4.2076, -0. , -0.3925, 0. ],</span>
1275-
<span class="go"> [-1.3785, 20.0685, -1.5182, -0. , 0.1312, -0.2119],</span>
1276-
<span class="go"> [ 4.2076, -1.5182, 24.9384, -0. , 0. , 0. ],</span>
1277-
<span class="go"> [-0. , -0. , -0. , 0. , 0. , 0. ],</span>
1278-
<span class="go"> [-0.3925, 0.1312, 0. , 0. , 0.1713, -0. ],</span>
1279-
<span class="go"> [ 0. , -0.2119, 0. , 0. , -0. , 0.0967]])</span>
1274+
<span class="go">array([[ 6.2736, -1.3785, 4.2076, 0. , -0.3925, 0. ],</span>
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<span class="go"> [-1.3785, 20.0685, -1.5182, 0. , 0.1312, -0.2119],</span>
1276+
<span class="go"> [ 4.2076, -1.5182, 24.9384, 0. , 0. , 0. ],</span>
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<span class="go"> [ 0. , 0. , 0. , 0. , -0. , -0. ],</span>
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<span class="go"> [-0.3925, 0.1312, 0. , -0. , 0.1713, -0. ],</span>
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<span class="go"> [ 0. , -0.2119, 0. , -0. , -0. , 0.0967]])</span>
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</pre></div>
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</div>
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<p><strong>Trajectory operation</strong></p>

‎arm_erobot.html

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@@ -1095,12 +1095,12 @@ <h2>ERobot<a class="headerlink" href="#erobot" title="Permalink to this headline
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
1098-
<span class="go">array([[ 6.2736, -1.3785, 4.2076, -0. , -0.3925, 0. ],</span>
1099-
<span class="go"> [-1.3785, 20.0685, -1.5182, -0. , 0.1312, -0.2119],</span>
1100-
<span class="go"> [ 4.2076, -1.5182, 24.9384, -0. , 0. , 0. ],</span>
1101-
<span class="go"> [-0. , -0. , -0. , 0. , 0. , 0. ],</span>
1102-
<span class="go"> [-0.3925, 0.1312, 0. , 0. , 0.1713, -0. ],</span>
1103-
<span class="go"> [ 0. , -0.2119, 0. , 0. , -0. , 0.0967]])</span>
1098+
<span class="go">array([[ 6.2736, -1.3785, 4.2076, 0. , -0.3925, 0. ],</span>
1099+
<span class="go"> [-1.3785, 20.0685, -1.5182, 0. , 0.1312, -0.2119],</span>
1100+
<span class="go"> [ 4.2076, -1.5182, 24.9384, 0. , 0. , 0. ],</span>
1101+
<span class="go"> [ 0. , 0. , 0. , 0. , -0. , -0. ],</span>
1102+
<span class="go"> [-0.3925, 0.1312, 0. , -0. , 0.1713, -0. ],</span>
1103+
<span class="go"> [ 0. , -0.2119, 0. , -0. , -0. , 0.0967]])</span>
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</pre></div>
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</div>
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<p><strong>Trajectory operation</strong></p>

‎arm_superclass.html

Lines changed: 6 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -787,12 +787,12 @@ <h2>Robot<a class="headerlink" href="#robot" title="Permalink to this headline">
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<div class="highlight-pycon notranslate"><div class="highlight"><pre><span></span><span class="gp">&gt;&gt;&gt; </span><span class="kn">import</span> <span class="nn">roboticstoolbox</span> <span class="k">as</span> <span class="nn">rtb</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span> <span class="o">=</span> <span class="n">rtb</span><span class="o">.</span><span class="n">models</span><span class="o">.</span><span class="n">DH</span><span class="o">.</span><span class="n">Puma560</span><span class="p">()</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">puma</span><span class="o">.</span><span class="n">cinertia</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qz</span><span class="p">)</span>
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<span class="go">array([[ 6.2736, -1.3785, 4.2076, -0. , -0.3925, 0. ],</span>
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<span class="go"> [-1.3785, 20.0685, -1.5182, -0. , 0.1312, -0.2119],</span>
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<span class="go"> [ 4.2076, -1.5182, 24.9384, -0. , 0. , 0. ],</span>
793-
<span class="go"> [-0. , -0. , -0. , 0. , 0. , 0. ],</span>
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<span class="go"> [-0.3925, 0.1312, 0. , 0. , 0.1713, -0. ],</span>
795-
<span class="go"> [ 0. , -0.2119, 0. , 0. , -0. , 0.0967]])</span>
790+
<span class="go">array([[ 6.2736, -1.3785, 4.2076, 0. , -0.3925, 0. ],</span>
791+
<span class="go"> [-1.3785, 20.0685, -1.5182, 0. , 0.1312, -0.2119],</span>
792+
<span class="go"> [ 4.2076, -1.5182, 24.9384, 0. , 0. , 0. ],</span>
793+
<span class="go"> [ 0. , 0. , 0. , 0. , -0. , -0. ],</span>
794+
<span class="go"> [-0.3925, 0.1312, 0. , -0. , 0.1713, -0. ],</span>
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<span class="go"> [ 0. , -0.2119, 0. , -0. , -0. , 0.0967]])</span>
796796
</pre></div>
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</div>
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<p><strong>Trajectory operation</strong></p>

‎intro.html

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -575,7 +575,7 @@ <h3>Denavit-Hartenberg parameters<a class="headerlink" href="#denavit-hartenberg
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<span class="gp">&gt;&gt;&gt; </span><span class="n">sol</span> <span class="o">=</span> <span class="n">puma</span><span class="o">.</span><span class="n">ikine_LM</span><span class="p">(</span><span class="n">T</span><span class="p">)</span> <span class="c1"># inverse kinematics</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="n">sol</span><span class="p">)</span>
578-
<span class="go">IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.514893490954293e-13)</span>
578+
<span class="go">IKsolution(q=array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]), success=True, reason=None, iterations=12, residual=8.513951146341011e-13)</span>
579579
</pre></div>
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</td></tr></table></div>
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<p>The Toolbox supports named joint configurations and these are shown in the table
@@ -869,7 +869,7 @@ <h2>Differential kinematics<a class="headerlink" href="#differential-kinematics"
869869
<span class="go">Yoshikawa manipulability is 0.07861716534599998</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="n">m</span> <span class="o">=</span> <span class="n">puma</span><span class="o">.</span><span class="n">manipulability</span><span class="p">(</span><span class="n">puma</span><span class="o">.</span><span class="n">qn</span><span class="p">,</span> <span class="n">method</span><span class="o">=</span><span class="s2">&quot;asada&quot;</span><span class="p">)</span>
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<span class="gp">&gt;&gt;&gt; </span><span class="nb">print</span><span class="p">(</span><span class="s2">&quot;Asada manipulability is&quot;</span><span class="p">,</span> <span class="n">m</span><span class="p">)</span>
872-
<span class="go">Asada manipulability is 0.004374613728166502</span>
872+
<span class="go">Asada manipulability is 0.004374613728166503</span>
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</pre></div>
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</div>
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<p>for the Yoshikawa and Asada measures respectively, and</p>

‎searchindex.js

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