Change base body of rigid tree robot.

Explanation:

We have designed a chain-like robot which has two switchable magnets on gripper and base frame. During movement, gripper and base body exchange their functionality. For example(ref to attach file), link 'Magnet01' is base body and 'Magent02' free gripper. At the first step of movement, 'Magent02' will attach to the wall and become base body and 'Magnet01' will be released and become the free gripper

question:

My question is that how we can change the base body in the ridgidTree?

[Cristhian Coque]

Hello, I know this has nothing to do with your question, but I am doing a project similar to what is here, but I can not find documentation on robots that exchange their base with the gripper, I would like to ask you how I can find articles on this subject.

Answer 1

[Yiping Liu]

You can check out the solution provided in this post:

https://www.mathworks.com/matlabcentral/answers/696625-change-base-of-rigidbodytree-like-in-seriallink?s_tid=srchtitle

[Lee Magnusson]

Seemingly this didn't answer the question, which I am now also stuck on. The answer suggests how to translate the base of a robot, not how to invert the robot to select a different body as the base.