How to add gripper in matlab 3dgraph

Dear Matlab,

I built a UR10 with the following code and able to plot it in 3D graph. However, I would like to add a gripper, RG2 to be attached in the UR10. How should I do ? Please help. Thank you.

L(1) = Link([0 0.089159 0.000000 pi/2]);

L(2) = Link([0 0.000000 -0.42500 0]);

L(3) = Link([0 0.000000 -0.39225 0]);

L(4) = Link([0 0.109150 0.000000 pi/2]);

L(5) = Link([0 0.094650 0.000000 -(pi/2)]);

L(6) = Link([0 0.082300 0.000000 0.000000]);

Rob = SerialLink(L);

Rob.name = 'UR10';

Robot.plot([Th_1 Th_2 Th_3]);

[jagsir singh]

i really hope someone answer this, i created a link and to add gripper i thought about multiplying the output of fkine that is a 4,4 matrix with a matrix 4,4 containig gripper length, but it doesnt work, fkine out matrix is not 4,4,

Answer 1

[季伟]

How did you create RG2 in Matlab?