How to convert a robot model from Peter Corke's toolbox to SymPyBotics

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András Retzler edited this page Oct 25, 2022 · 3 revisions

Converting a robot model defined with Link in MATLAB to one defined with sympybotics.RobotDef:

Link with 'offset', 90*(pi/180) shall become 'q+(pi/2)'
Ia shall take the value (G**2)*Jm
Link with r and m shall become for example l_4x = m_4*r_4[0]
units for d,a,alpha,I,r,m,offset are by default the same; for G and Jm, too, just see the note above