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# VREP_arm

Mirror of V-REP robot arm object

Mirror objects are MATLAB objects that reflect the state of objects in the V-REP environment. Methods allow the V-REP state to be examined or changed.

This is a concrete class, derived from VREP_mirror, for all V-REP robot arm objects and allows access to joint variables.

Methods throw exception if an error occurs.

## Example

    vrep = VREP();
    arm = vrep.arm('IRB140');
    q = arm.getq();
    arm.setq(zeros(1,6));
    arm.setpose(T);  % set pose of base

## Methods

getq | get joint coordinates
setq | set joint coordinates
setjointmode | set joint control parameters
animate | animate a joint coordinate trajectory
teach | graphical teach pendant

## Superclass methods (VREP_obj)

getpos | get position of object
setpos | set position of object
getorient | get orientation of object
setorient | set orientation of object
getpose | get pose of object given
setpose | set pose of object

can be used to set/get the pose of the robot base.

## Superclass methods (VREP_mirror)

getname | get object name
setparam_bool | set object boolean parameter
setparam_int | set object integer parameter
setparam_float | set object float parameter

getparam_bool | get object boolean parameter
getparam_int | get object integer parameter
getparam_float | get object float parameter

## Properties

n | Number of joints

## See also

VREP_mirror, VREP_obj, VREP_arm, VREP_camera, VREP_hokuyo

# VREP_arm.VREP_arm

Create a robot arm mirror object

arm = VREP_arm(name, options) is a mirror object that corresponds to the robot arm named name in the V-REP environment.

## Options

'fmt', F | Specify format for joint object names (default '%s_joint%d')

## Notes

- The number of joints is found by searching for objects with names systematically derived from the root object name, by default named NAME_N where N is the joint number starting at 0.

## See also

VREP.arm

# VREP_arm.animate

Animate V-REP robot

R.animate(qt, options) animates the corresponding V-REP robot with configurations taken from consecutive rows of qt (MxN) which represents an M-point trajectory and N is the number of robot joints.

## Options

'delay', D | Delay (s) betwen frames for animation (default 0.1)
'fps', fps | Number of frames per second for display, inverse of 'delay' option
'[no]loop' | Loop over the trajectory forever

## See also

SerialLink.plot

# VREP_arm.getq

Get joint angles of V-REP robot

ARM.getq() is the vector of joint angles (1xN) from the corresponding robot arm in the V-REP simulation.

## See also

VREP_arm.setq

# VREP_arm.setjointmode

Set joint mode

ARM.setjointmode(m, C) sets the motor enable m (0 or 1) and motor control C (0 or 1) parameters for all joints of this robot arm.

# VREP_arm.setq

Set joint angles of V-REP robot

ARM.setq(q) sets the joint angles of the corresponding robot arm in the V-REP simulation to q (1xN).

## See also

VREP_arm.getq

# VREP_arm.setqt

Set joint angles of V-REP robot

ARM.setq(q) sets the joint angles of the corresponding robot arm in the V-REP simulation to q (1xN).

# VREP_arm.teach

Graphical teach pendant

R.teach(options) drive a V-REP robot by means of a graphical slider panel.

## Options

'degrees' | Display angles in degrees (default radians)
'q0', q | Set initial joint coordinates

## Notes

- The slider limits are all assumed to be [-pi, +pi]

## See also

SerialLink.plot

© 1990-2014 Peter Corke.