How to update the position of the base of a manipulator robot and link said position to a specific one at any time ?

Hello, I am working in a mobile manipulator, so I have already create the models of the manipulator and mobile platform robot, but now I want to simulate them.

So my question is how could I have access to the position of the manipulator's base and link said position to the [X, Y, height] of the mobile platform robot.

Thank so much.

Answer 1

[Karsh Tharyani]

Hi Pedro,

You would have to remodel your manipulator such that you have a series of links between the actual manipulator base and the fixed base. These series of links will be each attached (in sequence) by prismatic joints in the X, Y, and Z directions of the fixed base frame. You can make use of the add subtree function to add your manipulator to the moving base rigid body tree (i.e., the series of links with prismatic joints).

Here is the documentation link for addSubtree - https://www.mathworks.com/help/robotics/ref/rigidbodytree.addsubtree.html

Hope this helps,

Karsh