ROBgetJointPosition
by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Kinematics and Frames
Introduced first in SolidGeometry 3.4, Creation date: 2017-02-21, Last change: 2025-09-14
returns the position of a set of joints of a robot
Description
Procedure example for Samuel Detzel
The Kinematic Group ID is an identifier for a set of structural connected joints such as a serial link robot arm
t0 = the time of the controller's internal clock when receiving the ROBgetJointPosition command
t1 = the time of the controller's internal clock when sending the ROBgetJointPosition results
Example Illustration
Syntax
[t,qi]=ROBgetJointPosition(KGID,[jset])
Input Parameter
KGID: | | Kinematic Group ID |
jset: | | Joint set; defualt is empty == all joints of KGID |
Output Parameter
t: | | time vector (t0 t1) |
qi: | | joint values of all or the requested set if joints [q1 q2 ] |
Copyright 2017-2025 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
Algorithm (Workflow)
Input Parameters:
- KGID: This parameter is likely an identifier for a kinematic group or a robot. It is used to specify which robot or kinematic group the function should operate on.
- jset: This is an optional parameter. If provided, it specifies a set of joints for which the position should be returned. If not provided, the function may default to all joints or a predefined set.
Output Results:
- t: This is the time vector. It likely represents the time instances at which the joint positions are sampled or calculated.
- qi: These are the joint position values. This output provides the positions of the specified joints at the corresponding times in the time vector.
Function Workflow:
- The function begins by checking if a second argument is provided. If so, it assigns this argument to the variable
jset.
- If
jset is not provided, it remains an empty array, indicating that the function may use a default set of joints.
- The function is expected to perform operations to retrieve joint positions based on the
KGID and jset parameters, but the specific operations are not provided in the code snippet.
Algorithm explaination created using ChatGPT on 2025-08-18 21:56. (Please note: No guarantee for the correctness of this explanation)
Last html export of this page out of FM database by TL: 2025-09-21