Date Created: September 1st, 2020

Robots: CB-Series and e-Series

SW versions: 3.14 and 5.9 above

1. Introduction

As released on Software versions 3.14 (CB-Series) and 5.9 (e-Series), matrix operations are now supported in URScript command programming.

2. Linear Algebra Examples

This section shows some examples of linear algebra in URScript.

2.1. Example 1: Solving system of linear equations

Consider the following system of linear equations,

The above system can be stated on matrix vector form: .
A least squares solution can be found: .

Least square solution example:

The above example yields: .

2.2. Example 2: Homogeneous transformation

A homogeneous transformation can be written as: .

Homogeneous transformation example:

The above example yields: .

2.3. Example 3: Vector multiplication

When two lists are multiplied it is performed element-wise: .

To achieve dot product functionality between two vectors (e.g. to get mean value of a vector) it can be implemented as follows:

Dot product example:

The above example yields: .