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Robot definition
In MPK, robots are defined as kinematic trees. A node in such a
kinematic tree is a 'joint' structure, which typically defines a
rotation around an axis or a translation along a vector. The
transform can be parameterized but need not. A 'joint' node can
optionally have an associated link model. For example, a kinematic
chain of three translational and three rotational joints can be used
to define a rigid free-flying object. In this case, only the last
joint would have a 'link' model, in this case the free-flying object
(for visualization and collision checking).
MPK offers two possibilities to define the kinematic tree of a robot:
- Robot files (.rob)
- This is the recommended approach for
defining robot kinematics. Robots can be added and removed without
recompiling any code. However, joints types are limited to
prismatic and revolute. For more details, see .
- Hard-coded robots (.H, .cpp)
- This approach consists of defining
the kinematics description in source code files. The advantage is
that arbitrary kinematics and parameterizations can be defined. The
disadvantage is that the some code needs to be recompiled whenever a
new robot type is added. For more details, see
.
Subsections
Next: Robot definition files (.rob)
Up: Creating new scenes and
Previous: Scene definition
Mitul Saha
2003-03-10