move

Move robot platform in scenario

Since R2022a

Syntax

move(platform,type,motion)

move(platform,type,config)

Description

move(platform,type,motion) moves the robot platform of type "base" in the scenario according to the specified motion.

move(platform,type,config) moves the joints of rigidBodyTree-based robot platform of type "joint" in the scenario according to the specified joint configuration.

Examples

Perform Pick and Place in Robot Scenario

Create a robotScenario object.

scenario = robotScenario(UpdateRate=1,StopTime=10);

Create a rigidBodyTree object of the Franka Emika Panda manipulator using loadrobot.

robotRBT = loadrobot("frankaEmikaPanda");

Create a rigidBodyTree-based robotPlatform object using the manipulator model.

robot = robotPlatform("Manipulator",scenario, ...
                      RigidBodyTree=robotRBT);

Create a non-rigidBodyTree-based robotPlatform object of a box to manipulate. Specify the mesh type and size.

box = robotPlatform("Box",scenario,Collision="mesh", ...
                    InitialBasePosition=[0.5 0.15 0.278]);
updateMesh(box,"Cuboid",Collision="mesh",Size=[0.06 0.06 0.1])

Visualize the scenario.

ax = show3D(scenario,Collisions="on");
view(79,36)
light

Specify the initial and the pick-up joint configuration of the manipulator, to move the manipulator from its initial pose to close to the box.

initialConfig = homeConfiguration(robot.RigidBodyTree);
pickUpConfig = [0.2371 -0.0200 0.0542 -2.2272 0.0013 ...
                2.2072 -0.9670 0.0400 0.0400];

Create an RRT path planner using the manipulatorRRT object, and specify the manipulator model.

planner = manipulatorRRT(robot.RigidBodyTree,scenario.CollisionMeshes);
planner.IgnoreSelfCollision = true;

Plan the path between the initial and the pick-up joint configurations. Then, to visualize the entire path, interpolate the path into small steps.

rng("default")
path = plan(planner,initialConfig,pickUpConfig);
path = interpolate(planner,path,25);

Set up the simulation.

setup(scenario)

Check the collision before manipulator picks up the box.

checkCollision(robot,"Box", ...
               IgnoreSelfCollision="on")

ans = logical
   0

Move the joints of the manipulator along the path and visualize the scenario.

helperRobotMove(path,robot,scenario,ax)

Check the collision after manipulator picks up the box.

checkCollision(robot,"Box", ...
               IgnoreSelfCollision="on")

ans = logical
   1

Use the attach function to attach the box to the gripper of the manipulator.

attach(robot,"Box","panda_hand", ...
       ChildToParentTransform=trvec2tform([0 0 0.1]))

Specify the drop-off joint configuration of the manipulator to move the manipulator from its pick-up pose to the box drop-off pose.

dropOffConfig = [-0.6564 0.2885 -0.3187 -1.5941 0.1103 ...
                 1.8678 -0.2344 0.04 0.04];

Plan the path between the pick-up and drop-off joint configurations.

path = plan(planner,pickUpConfig,dropOffConfig);
path = interpolate(planner,path,25);

Move the joints of the manipulator along the path and visualize the scenario.

helperRobotMove(path,robot,scenario,ax)

Use the detach function to detach the box from the manipulator gripper.

detach(robot)

Plan the path between the drop-off and initial joint configurations to move the manipulator from its box drop-off pose to its initial pose.

path = plan(planner,dropOffConfig,initialConfig);
path = interpolate(planner,path,25);

Move the joints of the manipulator along the path and visualize the scenario.

helperRobotMove(path,robot,scenario,ax)

Helper function to move the joints of the manipulator.

function helperRobotMove(path,robot,scenario,ax)
    for idx = 1:size(path,1)
        jointConfig = path(idx,:);
        move(robot,"joint",jointConfig)
        show3D(scenario,fastUpdate=true,Parent=ax,Collisions="on");
        drawnow
        advance(scenario);
    end
end

Input Arguments

platform — Robot platform in scenario

robotPlatform object

Robot platform in the scenario, specified as a robotPlatform object.

type — Type of robot platform

"base" | "joint"

Type of robot platform, specified as "base" or "joint".

Data Types: char | string

motion — Robot platform motion at current instance in scenario

16-element vector

Robot platform motion at the current instance in the scenario, specified as a 16-element vector with these elements in order:

• [x y z] — Positions in xyz-axes in meters.

• [vx vy vz] — Velocities in xyz-directions in meters per second.

• [ax ay az] — Accelerations in xyz-directions in meters per second squared.

• [qw qx qy qz] — Quaternion vector for orientation.

• [wx wy wz] — Angular velocities in radians per second.

Data Types: single | double

config — Robot platform joint configuration at current instance in scenario

N-element vector

Robot platform joint configuration at the current instance in the scenario, specified as an N-element vector. N is the total number of joints associated with the rigidBodyTree object.

Data Types: single | double

Version History

Introduced in R2022a