Can you add a program block diagram for understanding?

[DongShangqun]

Can you add a program block diagram for understanding?
thank you~

[yzhao334]

Sure. I will update when I have time. Thanks for the feedback.

[xiaosnowqiang]

The version of robotics toolbox will may cause issues too，my version is 10.3 ，and the issue shown below：
要串联的数组的维度不一致。 出错 RobVizLRMate (line 53) T_B2DS = [[rpy2r(RPY_DS2B, 'zyx') J1Origin]; 0 0 0 1]; % transformation from robot base (J1) frame to design space 出错 StartS (line 6) rob = RobVizLRMate;

still dont know how to fix it！

[DongShangqun]

Sure. I will update when I have time. Thanks for the feedback.

thank you so much