KMchain

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 2.1, Creation date: 2015-02-10, Last change: 2025-09-14

calculates a kinematic structure from a given frame chain

Description

Outdated concept also used in VLFL_EXP11 and VLFL_EXP12 is not supported anymore

See Also: KMchain , KMofSGs

Example Illustration

missing image of KMchain(KM,chain)

Syntax

KM=KMchain(KM,chain)

Input Parameter

KM: Kinematic model {SG,'Name',HT-Matrix}
chain: string 'A.A-A.B-'

Output Parameter

KM: Kinematic model with adjusted Frames KM{:,3}

Examples

load AIM_robot
KMA={SG0,'A',eye(4);SG1,'B',eye(4);SG2,'C',eye(4);SG3,'D',eye(4);SG4,'E',eye(4)}
KMchain (KMA,'A.A-A.B-B.A-B.B-C.A-C.B-D.A-D.B-E.A-E.B-',180)



Copyright 2015-2025 Tim C. Lueth. All rights reserved. The code is the property of Tim C. Lueth and may not be redistributed or modified without explicit written permission. This software may be used free of charge for academic research and teaching purposes only. Commercial use, redistribution, modification, or reverse engineering is strictly prohibited. Access to source code is restricted and granted only under specific agreements. For licensing inquiries or commercial use, please contact: Tim C. Lueth

Last html export of this page out of FM database by TL: 2025-09-21