07_ Example Explanation: Rlcoachkin + rlcoachmdl

RL provides 2 fairly simple socket-based virtualization robots, which are socket server-side.

The Rlcoachkin is used for the D-h movement chain (defined in Rlkin\*xml).

RLCOACHMDL is equivalent to any geometric tool chain.

Rlcoachkin

Start mode: Specify a good scene and motion algorithm

"E:\Program files (x86) \rl-0.6.2\bin\rlcoachkin.exe" "E:\Program files (x86) \rl-0.6.2\share\rl\examples\rlsg\ Unimation-puma560_boxes.xml "" E:\Program Files (x86) \rl-0.6.2\share\rl\examples\rlkin\unimation-puma560.xml "

This will then start a socket server, which shows the current scene and the robot, and listens on TCP port 11235.

You can then telnet to port 11235 on localhost and send the instructions

2 0 1.57 0.31 0 0 1.57 0

You can see that the robot has changed:

Can see the sent turn.

The above instructions can send something, you need to look at the source code, which is the best way to know the meaning of each parameter.

07_ Example Explanation: Rlcoachkin + rlcoachmdl