SGjacohand

by Tim C. Lueth, SG-Lib Toolbox: SolidGeometry 5.6 - Serial-Robotics
Introduced first in SolidGeometry 4.8, Creation date: 2019-08-29, Last change: 2025-08-19

returns the JACO hand with fingers

Description

compiles the hand and the fingers from mat file "JACO_robot.mat"

See Also: SGjacosample , SGTframeChain , SGTchain

Example Illustration

missing image of SGjacohand

Syntax

SGn=SGjacohand

Output Parameter

SGn: CEll list of hand plus 3 fingers

Examples


loadweb JACO_robot.mat
SGjacohand; SGH=ans



Copyright 2019-2025 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)

This algorithm is designed to compile a model of the JACO robotic hand and its fingers using data from a .mat file. Below is a detailed explanation of the algorithm and its parameters:

Input Parameters

Algorithm Steps

  1. The function begins by loading data from the file JACO_robot.mat. This file contains the necessary data structures for the JACO hand model.
  2. Two variables, JC61 and JCF, are loaded from the file and stored in a cell array SG.
  3. A kinematic chain is defined using the function SGTframeChain. The chain is specified by a sequence of movements and rotations, represented as a string: [1 'F' 2 'B' 1 'F2' 2 'B' 1 'F3' 2 'B'].
  4. The function SGTchain is called with the following parameters:
    • SG: The cell array containing the hand and finger data.
    • [nan 0 pi pi]: An array of angles for the kinematic chain, where nan represents an undefined angle, and pi represents 180 degrees.
    • 0: A parameter likely representing an initial state or configuration.
    • Fchain: The kinematic chain defined earlier.
  5. The result of SGTchain is stored in SGn, which represents the compiled model of the JACO hand and fingers.
  6. If the function is called without output arguments (nargout==0), it proceeds to visualize the model:
    • SGfigure(-30,30): Initializes a figure for plotting with specified view angles.
    • SGplotalpha(SGn,'w'): Plots the model with a specified color or transparency.
    • axis off: Turns off the axis display for a cleaner visualization.
    • view(-129,21): Sets the view angle for the 3D plot.
    • camlightTL: Adds lighting to the plot for better visualization.
    • zoompatch('',0,0): Adjusts the zoom level of the plot.

Output

Algorithm explaination created using ChatGPT on 2025-08-19 00:01. (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