Serial Arm Definition VIs

LabVIEW 2011 Robotics Module Help

Edition Date: June 2011

Part Number: 372983B-01

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Requires: Robotics Module. This topic might not match its corresponding palette in LabVIEW depending on your operating system, licensed product(s), and target.

Use the Serial Arm Definition VIs to create a simulated serial robotic arm and define the properties of the links that make up the arm.

A serial arm consists of a base, a link or series of links connected at joints, and an end effector. The base is the position at the beginning of the first link in a serial arm, and the end effector is the position at the end of the last link in an arm. You define the properties of links and joints in an arm to construct the arm.

Palette Object	Description
Append Link	Appends the link you specify to the links that make up the robotic arm.
Get Base Transform	Returns a homogenous transform that represents the position of the base of a robotic arm.
Get End Effector Transform	Returns a homogenous transform that represents the position of the end effector of a robotic arm.
Get Links	Returns an array of the links that make up a robotic arm.
Get Pose by Name	Returns the joint angles that make up the serial arm pose of the name you specify.
Get Poses	Returns the joint angles that make up all serial arm poses associated with a robotic arm.
Set Base Transform	Sets the position of the base of a robotic arm.
Set End Effector Transform	Sets the position of the end effector of a robotic arm.
Set Links	Creates a robotic arm that consists of the links you specify.
Set Poses	Sets the joint angles that make up serial arm poses you want to associate with a robotic arm.
Zero Out Friction	Sets the amount of friction of every joint in serial arm in to 0.

Subpalette	Description
Link VIs	Use the Link VIs to define the properties of links and joints in a serial robotic arm. Set the dynamic and kinematic properties of a robotic arm before you perform dynamic and kinematic calculations for the arm.