add simple examples

petercorke · petercorke · commit 2b36075b0eb1 · 2020-09-13T17:04:20.000+10:00
diff --git a/examples/puma_fdyn.py b/examples/puma_fdyn.py
@@ -0,0 +1,19 @@
+import roboticstoolbox as rtb
+
+# load a model with inertial parameters
+p560 = rtb.models.DH.Puma560()
+
+# remove Coulomb friction
+p560 = p560.nofriction()
+
+# print the kinematic & dynamic parameters
+p560.printdyn()
+
+# simulate motion over 5s with zero torque input
+d = p560.fdyn(5, p560.qr, dt=0.05)
+
+# show the joint angle trajectory
+rtb.tools.trajectory.qplot(d.q)
+
+# animate it
+p560.plot(d.q.T) # movie='falling_puma.gif')
diff --git a/examples/puma_jtraj.py b/examples/puma_jtraj.py
@@ -0,0 +1,10 @@
+import roboticstoolbox as rtb
+from spatialmath import *
+
+
+p560 = rtb.models.DH.Puma560()
+print(p560)
+tw, T0 = p560.twists(p560.qn)
+print(tw)
+qt = rtb.tools.trajectory.jtraj(p560.qr, p560.qz, 50)
+p560.plot(qt.q.T, dt=100, movie='puma_sitting.gif')
