# how to fix Cannot find an exact (case-sensitive) match for 'link' error ?

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Najmeh Eskandari 2018 年 6 月 16 日
Answered: Walter Roberson 2018 年 6 月 16 日
hi.i want to creat ur10 in matlab .I use this code:
function URrobot = UR_robot()
offset = [0 0 0 0 0 0];
clear L
% alpha A theta D sigma offset
L{1} = link([pi/2 0 0 0.1273 0 offset(1)], 'standard');
L{2} = link([0 -0.612 0 0 0 offset(2)], 'standard');
L{3} = link([0 -0.5723 0 0 0 offset(3)], 'standard');
L{4} = link([pi/2 0 0 0.163941 0 offset(4)], 'standard');
L{5} = link([-pi/2 0 0 0.1157 0 offset(5)], 'standard');
L{6} = link([0 0 0 0.0922 0 offset(6)], 'standard');
m_vect = [2.826, 11.8006, 4.9743 ,0.0000, 0.0000, 1.6098];
L{1}.m = m_vect(1);
L{2}.m = m_vect(2);
L{3}.m = m_vect(3);
L{4}.m = m_vect(4);
L{5}.m = m_vect(5);
L{6}.m = m_vect(6);
%ZYYYZY
L{1}.r = [ 0.00008 0.00244 -0.037 ];
L{2}.r = [ 0.2914 0.0609 0.0000]; %[ 0.00008 0.00244 0.38757 ];
L{3}.r = [ -0.0733 0.0384 0.0000]; %[ 0.0 0.0265 0.11993 ];
L{4}.r = [ 0.0 0.110949 0.01634 ];
L{5}.r = [ 0.0 0.0018 0.11099 ];
L{6}.r = [0.0085 0.0289 0.0000]; %[ 0.0 0.001159 0.0 ];
L{1}.I = [ 0.006325, 0.005698, 0.005726, 0, 0, 0 ];
L{2}.I = [ 0.2465, 0.2452, 0.01536, 0, 0, 0 ];
L{3}.I = [ 0.0942, 0.0938, 0.004331, 0, 0, 0 ];
L{4}.I = [ 0.001033, 0.0009557, 0.0007397, 0, 0, 0 ];
L{5}.I = [ 0.001033, 0.0007397, 0.0009557, 0, 0, 0 ];
L{6}.I = [ 0.0001205, 0.0001918, 0.0001191, 0, 0, 0 ];
L{1}.Jm = 0;
L{2}.Jm = 0;
L{3}.Jm = 0;
L{4}.Jm = 0;
L{5}.Jm = 0;
L{6}.Jm = 0;
L{1}.G = 0;
L{2}.G = 0;
L{3}.G = 0;
L{4}.G = 0;
L{5}.G = 0;
L{6}.G = 0;
% viscous friction (motor referenced)
L{1}.B = 1;
L{2}.B = 1;
L{3}.B = 1;
L{4}.B = 1;
L{5}.B = 1;
L{6}.B = 1;
% Coulomb friction (motor referenced)
L{1}.Tc = [ 1 1 ];
L{2}.Tc = [ 1 1 ];
L{3}.Tc = [ 1 1 ];
L{4}.Tc = [ 1 1 ];
L{5}.Tc = [ 1 1 ];
L{6}.Tc = [ 1 1 ];
URrobot = robot(L, 'UR', 'Unimation');
clear L
URrobot.name = 'UR';
URrobot.manuf = 'Unimation';
but there is this error:
Cannot find an exact (case-sensitive) match for 'link'
The closest match is: Link in
how can I fix it?

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### 採用された回答

Walter Roberson 2018 年 6 月 16 日
link() used to be part of the Peter Corke Robotic Systems Toolbox, such as in release 8 of the toolbox; see the page numbered 35 in https://pdfs.semanticscholar.org/99ce/db4549c6fb88c3614f690d5b37a850c2d673.pdf (pdf page 59).
In current versions of the Peter Corke Robotics Systems Toolbox, Link() is used instead. That is the Link() that is being suggested by MATLAB -- that is, you already have the toolbox installed, but you need to update your code to use the new name and any new syntax.

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