GETTING_STARTED

You can start with a fast view of the main capabilities of the library. Please type:
>> demos

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FAST TUTORIAL
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Start by loading a robot:
>> robot=load_robot('ABB','IRB140')


Now draw it on its zero position:

>> drawrobot3d(robot, [0 0 0 0 0 0])

Now draw a different position:

>> drawrobot3d(robot, [pi/4 pi/8 pi/4 0 0 0])

Draw it in transparent mode to see the Denavit-Hartenberg reference systems:

>> robot.graphical.draw_transparent=1
>> drawrobot3d(robot, [pi/4 pi/8 pi/4 0 0 0])

Again in solid mode:
>> robot.graphical.draw_transparent=0;
>> drawrobot3d(robot, [pi/4 pi/8 pi/4 0 0 0])

Now launch the "teach" graphical user interface:
>> teach

Click on the Z+, Z-, X+, X-, Y+ or Y- buttons to move the robot in the base reference system. Or move the sliders to move the robot joints.

Now, we can add more things to the robot environment:

>> robot.equipment=load_robot('equipment', 'bumper_cutting'); 

Draw the robot and see the environment:

>> drawrobot3d(robot, q)

Now load a gripper:

>> robot.tool=load_robot('equipment/end_tools', 'parallel_gripper_0'); 

Move everything using the GUI application. You can load other end tools, such as:

>> robot.tool=load_robot('equipment/end_tools', 'vacuum_2'); 

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HOME PAGE
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	http://www.arvc.umh.es/arte

Please note that the library is everyday under development. Please send email bug reports, comments or code contributions to:

	Arturo Gil	arturo.gil@umh.es