Algorithm (Workflow)

This algorithm is a MATLAB function named SGrobot that models the geometry and kinematics of the MIMED-LCL Robot. It is part of the SG-Library and was developed by Simon Schiele and Yannick Krieger.

Input Parameters

• phi: A list of angles in radians. The default value is [0 0 0 0]. This parameter represents the joint angles of the robot.

Output Results

• SG: A cell list containing 5 solids, which represent the geometry of the robot.

Algorithm Steps

1. The function SGrobot is called with a variable number of input arguments (varargin).
2. The function getfuncparams is used to extract the first input parameter, phi, from varargin. If no input is provided, it defaults to [0 0 0 0]. The function ensures that phi is a list of angles.
3. If the first element of phi is not NaN, a NaN is prepended to the list. This is likely done to align the input with the expected format for further processing.
4. The function loads a MATLAB file named LCL_robot.mat, which contains the robot's data, into a variable named LCL.
5. The function SGTchain is called with LCL and phi as arguments. This function likely computes the kinematic chain of the robot and returns the geometry as a cell list of solids, stored in SG.
6. If no output is requested (nargout == 0), the function proceeds to visualize the robot:
• SGfigure(-30,30): Sets up a figure for plotting with a specific view angle.
• SGplotalpha(SG): Plots the geometry of the robot.
• SGTframeplot(SG): Plots the frames of the robot's kinematic chain.
• view(-30,30): Adjusts the view angle of the plot.

Example Usage

To use the function, you can call it with different sets of angles:

• SGrobot([-pi/6 pi/6 pi/6]): This call sets the joint angles to -pi/6, pi/6, and pi/6.
• SGrobot([pi/6 pi/6 pi/6]): This call sets the joint angles to pi/6, pi/6, and pi/6.