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Serial Arm Definition VIs

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Robotic Arm VIs

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 design and generate a serial robotic arm. To design an arm, you define the parameters of the links and joints 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 first link in a serial arm, and the end effector is 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 ObjectDescription
Acquire Kinematics ParametersAcquires the kinematic parameters and joint IDs of a serial robotic arm.
Get Base TransformReturns a homogenous transform that represents the position of the base of a robotic arm.
Get End Effector TransformReturns a homogenous transform that represents the position of the end effector of a robotic arm.
Get Pose by NameReturns the joint angles that make up the serial arm pose of the name you specify.
Get PosesReturns the joint angles that make up all serial arm poses associated with a robotic arm.
Initialize Serial ArmSets the properties of a serial robot arm and generates a representation of the arm. If you have access to a 6R, 5R, or SCARA arm, generate that type of arm. If you do not have access to an arm of those types, generate a generic arm. You must manually select the polymorphic instance to use.
Set Base TransformSets the position of the base of a robotic arm.
Set End Effector TransformSets the position of the end effector of a robotic arm.
Set PosesSets the joint angles that make up serial arm poses you want to associate with a robotic arm.
Zero Out FrictionSets the amount of friction of every joint in serial arm in to 0.

.m file: nofriction

 

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