KMofSGs

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 2.4, Creation date: 2015-08-09, Last change: 2025-09-14

returns a Kinematic model for a chain of solids

Description

Outdated concept also used in VLFL_EXP11 and VLFL_EXP12 is not supported anymore

The solids are given as cell list: {SG1,SG2,SG3...}
The procedure also performs a collision test to give a feedback on the geometry. For this purpose all facets of the analyzed links are shrinked by thr=0.1. and compared with all surfaces of the links in the chain before.


At a later stage, it is absolutely necessary to integrate the chains into the model
KM.m=models (i.e. current KM)
KM.c=chains


See Also: KMchain

Example Illustration

missing image of KMofSGs(SGs,dphi,thr)

Syntax

[KM,chain]=KMofSGs(SGs,[dphi,thr])

Input Parameter

SGs: Cell list of solids: {SG1,SG2,SG3...}
dphi: angle degree (default is 105 degree) for all joints
thr: threshold for collision test; default is 0.1 (==2*0.05)

Output Parameter

KM: Kinematic Model including a simple chain
chain: generated chain of frames

Examples

Create a strange robot
load AIM_SGrobot.mat
KMofSGs ({SG0,SG1,SG2,SG2,SG2,SG3,SG2,SG4});
home; KMofSGs ({SG0,SG1,SG2,SG3,SG4},150);
home; KMofSGs ({SG0,SG1,SG2,SG3,SG4},[],0.05);



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