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Robotics toolbox 'r' parameter in 'Link' class

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Mohamad Qadri
Mohamad Qadri on 13 Apr 2020
Commented: Cam Salzberger on 13 Apr 2020
Hello,
In the robotic toolbox, I am having some issues understanding what the 'r' parameter refers to in the 'link' class. The comment next to the 'r' parameter says that r is the 'link COG wrt link coordinate frame 3x1' . Does r refer to the location of the centre of mass with respect to the ith joint frame? By link coordinate, does it mean the ith joint frame coordinate?
Thank you
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Cam Salzberger
Cam Salzberger on 13 Apr 2020
This is referring to the Link class from Peter Corke's Robotics Toolbox, not the MathWorks Robotics System Toolbox. Just to be clear.

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