AddRobotArm:

Path: SCPro/Systems

% Add a multi-element arm to a CAD models.

   Adds one body per linke an one cylinder per link. Each joint may
   have multiple one degree of freedom joints represented by unit vectors
   and angles

   As an example

   link(k).u       = [1;0;0];
   link(k).r       = [0;0;0.02];
   link(k).angle   = pi/4;
   link(k).mass    = 0.02;
   link(k).radius	= 0.01; 
   link(k).b       = eye(3);
   link(k).power   = 1;
   link(k).name    = 'wrist';
   
   AddRobotArm( 'add bodies', 1, 4, [0;0;zBox], link );
   
   BuildCADModel( 'compute paths' );
   
   AddRobotArm( 'add components', 1, 4, [0;0;zBox/2], link );

   Since version 10.
--------------------------------------------------------------------------
   Form:
   AddRobotArm( action, previousBody, firstBody, rBase, link )
--------------------------------------------------------------------------

   ------
   Inputs
   ------
   action          (1,:)  'initialize' or 'update'
   previousBody    (1,1)  Body to which the arm is attached
   firstBody       (1,1)  First body in the robot chain
   rBase           (3,1)  Location of the base on the previous body
   link            (:)    Data structure
                          .u      (3,:) Joint unit vectors
                          .r      (3,1) Vector from the joint to the link end
                          .angle  (1,:) Joint angles   = pi/4;
                          .mass   (1,1) Link mass
                          .radius (1,1) Link radius
                          .power  (1,1) Link motor power consumption
                          .name   (1,:) Link name

   -------
   Outputs
   -------
   None

--------------------------------------------------------------------------

Children:

AC: ACData/ACTConstants
AerospaceUtils: AtmosphericCalculations/AtmDens2
AerospaceUtils: AtmosphericCalculations/AtmJ70
AerospaceUtils: AtmosphericCalculations/BaromExp
AerospaceUtils: AtmosphericCalculations/DiffusionExp
AerospaceUtils: CAD/BHinge
AerospaceUtils: CAD/BodyPlugIn
AerospaceUtils: CAD/BuildCADModel
AerospaceUtils: CAD/ComponentPlugIn
AerospaceUtils: CAD/ComponentPopup
AerospaceUtils: CAD/CreateBody
AerospaceUtils: CAD/CreateCADTable
AerospaceUtils: CAD/CreateComponent
AerospaceUtils: CAD/DeviceProperties
AerospaceUtils: CAD/Dim
AerospaceUtils: CAD/Draw2DViewPlugIn
AerospaceUtils: CAD/DrawSCPlanPlugIn
AerospaceUtils: CAD/DrawSpacecraftPatches
AerospaceUtils: CAD/ExportCAD
AerospaceUtils: CAD/GenericProperties
AerospaceUtils: CAD/SpacecraftPlugIn
AerospaceUtils: ComponentModels/AntennaPatch
AerospaceUtils: ComponentModels/ArrayPatch
AerospaceUtils: ComponentModels/CameraModel
AerospaceUtils: ComponentModels/HallThrusterModel
AerospaceUtils: ComponentModels/NuclearReactorModel
AerospaceUtils: ComponentModels/REAModel
AerospaceUtils: ComponentModels/RWAModel
AerospaceUtils: ComponentModels/StarCameraModel
AerospaceUtils: Coord/ECIToEF
AerospaceUtils: Coord/IntersectPlanet
AerospaceUtils: Coord/QIToBDot
AerospaceUtils: Coord/QLVLH
AerospaceUtils: Coord/R2LatLon
CubeSat: Power/SolarCellPower
CubeSat: Simulation/CubeSatAero
CubeSat: Simulation/CubeSatEnvironment
CubeSat: Simulation/CubeSatRadiationPressure
CubeSat: Simulation/RHSCubeSat
CubeSat: Utilities/CubeSatAttitude
CubeSat: Utilities/CubeSatFaces
CubeSat: Utilities/CubeSatModel
CubeSat: Visualization/DrawCubeSat
CubeSat: Visualization/GroundTrack
Orbit: OrbitCoord/ConvertNORAD
Orbit: OrbitCoord/SLR
Orbit: OrbitMechanics/NORAD
Orbit: OrbitMechanics/NORADToEl
Orbit: OrbitMechanics/PropagateTLE
Orbit: OrbitMechanics/RVOrbGen
Orbit: Visualization/OrbTrack
SC: Actuator/FrictionSmooth
SC: Actuator/RWA
SC: Actuator/SingleAxisDrive
SC: BasicOrbit/CP2I
SC: BasicOrbit/E2M
SC: BasicOrbit/E2Nu
SC: BasicOrbit/El2RV
SC: BasicOrbit/M2E
SC: BasicOrbit/M2EApp
SC: BasicOrbit/M2EEl
SC: BasicOrbit/M2EHy
SC: BasicOrbit/M2Nu
SC: BasicOrbit/M2NuPb
SC: BasicOrbit/Nu2E
SC: BasicOrbit/Nu2M
SC: BasicOrbit/OrbRate
SC: BasicOrbit/Period
SC: BasicOrbit/RV2El
SC: BasicOrbit/RVFromKepler
SC: Disturbances/GravityGradientFromR
SC: Disturbances/OpticalSurfaceProperties
SC: Disturbances/SolarF
SC: Environs/BDipole
SC: Environs/SolarFluxPrediction
SC: Ephem/ECIToPlanet
SC: Ephem/EOfE
SC: Ephem/EarthNut
SC: Ephem/EarthPre
SC: Ephem/EarthRot
SC: Ephem/EarthRte
SC: Ephem/Eclipse
SC: Ephem/GMSTime
SC: Ephem/MSidDay
SC: Ephem/MoonRot
SC: Ephem/Moons
SC: Ephem/NutDelta
SC: Ephem/ObOfE
SC: Ephem/SunV1
SC: Ephem/TruEarth
SC: GUIPlugIn/DrawSCPlugIn
SC: Hardware/FloatToWord
SC: Hardware/WordToFloat
SC: MagneticControl/MagneticTorquer
SC: SCData/sCTConstants
SC: SCMat/EarthMR
SC: SCMat/SolarFluxPredictions
SC: SCModels/SCForImaging
SC: SCModels/SimpleSat
SC: SCModels/TwoArraySC
SC: Visualization/PlotPlanet
SCPro: MannedVehicle/ISSOrbit
SCPro: ProActuators/SingleAxisLinearDrive
SCPro: ProSensors/GPSReceiver
SCPro: ProSensors/GPSSatellite
SCPro: ProSensors/RangeMeasurement
Common: CommonData/Constants
Common: CommonData/Sosumi
Common: CommonData/SwooshWatermark
Common: CommonData/xSplashSmall
Common: ComponentModels/Box
Common: ComponentModels/Frustrum
Common: ComponentModels/GeomPatch
Common: ComponentModels/Triangle
Common: Control/C2DZOH
Common: Database/Constant
Common: FileUtils/FindDirectory
Common: GUIs/MessageQueue
Common: GUIs/TabBox
Common: General/CellToMat
Common: General/CloseFigure
Common: General/CloseIfHandle
Common: General/CloseUIElement
Common: General/DeBlankLT
Common: General/DeleteCell
Common: General/DispWithTitle
Common: General/FSWClock
Common: General/GetListString
Common: General/IsValidField
Common: General/IsVersionAfter
Common: General/ListCases
Common: General/MatToCell
Common: General/ProcessTag
Common: General/RadioButtons
Common: General/SaveStructure
Common: General/SetUIElement
Common: General/StringMatch
Common: General/StringToTokens
Common: General/StructToCell2D
Common: General/UIElement
Common: General/Watermark
Common: Graphics/AddFillToPlots
Common: Graphics/Axis3D
Common: Graphics/DrawImage
Common: Graphics/DrawVertices
Common: Graphics/Ellipsd
Common: Graphics/Map
Common: Graphics/Mesh2
Common: Graphics/NPlot
Common: Graphics/NewFig
Common: Graphics/Plot2D
Common: Graphics/Plot3D
Common: Graphics/PltStyle
Common: Graphics/Polygon
Common: Graphics/PolygonProps
Common: Graphics/TimeLabl
Common: Graphics/TitleS
Common: Graphics/XLabelS
Common: Graphics/YLabelS
Common: Graphics/ZLabelS
Common: Help/HelpSystem
Common: MassProperties/AddMass
Common: MassProperties/IC623X3
Common: MassProperties/Inertias
Common: MassProperties/Volumes
Common: Plugins/HierarchicalListPlugIn
Common: Quaternion/AU2Q
Common: Quaternion/Mat2Q
Common: Quaternion/Q2Mat
Common: Quaternion/QForm
Common: Quaternion/QMult
Common: Quaternion/QPose
Common: Quaternion/QTForm
Common: Quaternion/QZero
Common: Quaternion/U2Q
Common: Time/DTAToDTS
Common: Time/DTSToDTA
Common: Time/Date2DN
Common: Time/Date2JD
Common: Time/JD2000
Common: Time/JD2Array
Common: Time/JD2DN
Common: Time/JD2Date
Common: Time/JD2T
Common: Time/JDToMidnight
Common: Time/T2JD
Math: Geometry/Perpendicular
Math: Linear/Cross
Math: Linear/Dot
Math: Linear/DupVect
Math: Linear/Mag
Math: Linear/Skew
Math: Linear/SkewSq
Math: Linear/SkewSymm
Math: Linear/Unit
Math: MathUtils/R2P5
Math: Trigonometry/ACosD
Math: Trigonometry/CosD
Math: Trigonometry/SinD

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