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LOAD_MOTORS Loads a matrix containing the mechanical and electrical data
of a set of motors from Maxon Motors.
For example:
robot.motors = LOAD_MOTORS() returns a matrix where each row defines the
data of a particular model. The motor catalog can be found under
practicals/session3_inverse_dynamics/motor_catalog
Example:
robot = load_robot('abb', 'IRB140')
robot.motors = load_motors()
robot.motors(1,:)
See also LOAD_ROBOT.
Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. email:
arturo.gil@umh.es date: 02/01/2013
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % LOAD_MOTORS Loads a matrix containing the mechanical and electrical data 0003 % of a set of motors from Maxon Motors. 0004 % 0005 % For example: 0006 % robot.motors = LOAD_MOTORS() returns a matrix where each row defines the 0007 % data of a particular model. The motor catalog can be found under 0008 % practicals/session3_inverse_dynamics/motor_catalog 0009 % 0010 % 0011 % Example: 0012 % robot = load_robot('abb', 'IRB140') 0013 % 0014 % robot.motors = load_motors() 0015 % robot.motors(1,:) 0016 % 0017 % 0018 % See also LOAD_ROBOT. 0019 % 0020 % Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. email: 0021 % arturo.gil@umh.es date: 02/01/2013 0022 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0023 0024 % Copyright (C) 2012, by Arturo Gil Aparicio 0025 % 0026 % This file is part of ARTE (A Robotics Toolbox for Education). 0027 % 0028 % ARTE is free software: you can redistribute it and/or modify 0029 % it under the terms of the GNU Lesser General Public License as published by 0030 % the Free Software Foundation, either version 3 of the License, or 0031 % (at your option) any later version. 0032 % 0033 % ARTE is distributed in the hope that it will be useful, 0034 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0035 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0036 % GNU Lesser General Public License for more details. 0037 % 0038 % You should have received a copy of the GNU Leser General Public License 0039 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0040 function motors = load_motors(indexes) 0041 0042 %these correspond to Maxon, 167132; 0043 0044 global configuration 0045 0046 0047 0048 % R (Ohm): Coil resistance 0049 % L (H) : Coil inductance. 0050 % Kv (V/rad/s): speed constant 0051 % Kp (N·m/A): torque constant 0052 % Max_current (A): Max allowable current in the coil. 0053 % Max_speed (rad/s): Max allowable speed of the motor 0054 0055 % please note the constans to translate the units to 0056 0057 motors= []; 0058 0059 0060 Inertia=[]; 0061 constants = []; 0062 Viscous = []; 0063 Coulomb= []; 0064 for i=1:length(indexes), 0065 switch indexes(i) 0066 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0067 % INDEX 1 0068 % MOD: 264443, EC22 0069 % 50W, Brushless 0070 % Vin=32 Volt 0071 % Peak torque: 411 mN·m 0072 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0073 case 1 0074 Inertia= [Inertia 4.63/1e7]; %4.09 g·cm2= 4.09/10^7 Kg·m^2 0075 0076 constants = [constants; 0077 % R(Ohm) L(H) Kv Kp Max_current Nominal_speed 0078 0.997 0.147e-3 1/(746*(pi/30)) 12.8/1000 32.1 21400]; 0079 0080 Viscous = [Viscous 0]; 0081 %C+ C- 0082 Coulomb = [Coulomb; 0 0]; 0083 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0084 % INDEX 2 0085 % MOD: 118895, EC40 0086 % 120W, Brushless 0087 % Vin=30 Volt 0088 % Peak torque: 1340 mN·m 0089 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0090 case 2 0091 Inertia= [Inertia 85/1e7]; %85 g·cm2= 4.09/10^7 Kg·m^2 0092 0093 constants = [constants; 0094 % R(Ohm) L(H) Kv Kp Max_current Nominal_speed 0095 0.518 0.32e-3 1/(389*(pi/30)) 24.6/1000 57.9 10500]; 0096 0097 Viscous = [Viscous 0]; 0098 %C+ C- 0099 Coulomb = [Coulomb; 0 0]; 0100 0101 0102 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0103 % INDEX 3 0104 % MOD: 266052, EC-4pole 45 0105 % 200W, Brushless 0106 % Vin=48 Volt 0107 % Peak torque: 4420 mN·m 0108 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0109 case 3 0110 Inertia= [Inertia 200/1e7]; %85 g·cm2= 4.09/10^7 Kg·m^2 0111 0112 constants = [constants; 0113 % R(Ohm) L(H) Kv Kp Max_current Nominal_speed 0114 0.566 0.172e-3 1/(183*(pi/30)) 52.2/1000 84.8 8110]; 0115 0116 Viscous = [Viscous 0]; 0117 %C+ C- 0118 Coulomb = [Coulomb; 0 0]; 0119 0120 0121 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0122 % INDEX 4 0123 % MOD: 283150, EC-4pole 45 0124 % 300W, Brushless 0125 % Vin=48 Volt 0126 % Peak torque: 7690 mN·m 0127 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0128 case 4 0129 Inertia= [Inertia 368/1e7]; %85 g·cm2= 4.09/10^7 Kg·m^2 0130 0131 constants = [constants; 0132 % R(Ohm) L(H) Kv Kp Max_current Nominal_speed 0133 0.710 0.677e-3 1/(84*(pi/30)) 114/1000 67.6 3570]; 0134 0135 Viscous = [Viscous 0]; 0136 %C+ C- 0137 Coulomb = [Coulomb; 0 0]; 0138 0139 %%%%%%%%%%%%%%%%%%%%%%%%%% 0140 % INDEX 5 0141 % MOD: 167132, EC60 0142 % 400W, Brushless 0143 % Vin=48 Volt 0144 % Peak torque: 11800 mN·m 0145 %%%%%%%%%%%%%%%%%%%%%%%%%%% 0146 case 5 0147 Inertia= [Inertia 831/1e7]; %85 g·cm2= 4.09/10^7 Kg·m^2 0148 0149 constants = [constants; 0150 % R(Ohm) L(H) Kv Kp Max_current Nominal_speed 0151 0.345 0.273e-3 1/(113*(pi/30)) 84.9/1000 139 4960]; 0152 0153 Viscous = [Viscous 0]; 0154 %C+ C- 0155 Coulomb = [Coulomb; 0 0]; 0156 0157 0158 0159 otherwise 0160 disp('PLEASE SELECT A VALID MOTOR!!') 0161 end 0162 end 0163 0164 motors.Inertia = Inertia; 0165 motors.constants = constants; 0166 motors.Viscous=Viscous; 0167 motors.Coulomb = Coulomb; 0168 0169 % %Actuator rotor inertia 0170 % motors.Inertia=[200e-6 200e-6 200e-6 33e-6 33e-6 33e-6]; 0171 % 0172 % %Speed reductor at each joint 0173 % %motors.G=[300 300 300 300 300 300]; 0174 % %Obtained from motor catalog under practicals/inverse_dynamics 0175 % % R(Ohm) L(H) Kv (V/rad/s):speed constant Kp (Nm/A):torque constant Max_current (A) 0176 % motors.constants=[0.345 0.273e-3 2.3474e-05 84.9e-3 139; %these correspond to Maxon, 167132; 0177 % ]; 0178 % 0179 % %Viscous friction referred to the 0180 % motors.Viscous = [0 0 0 0 0 0]; 0181 % 0182 % %Coulomb friction factors, motor referred 0183 % %Tc+, Tc- 0184 % motors.Coulomb = [0 0; 0185 % 0 0; 0186 % 0 0; 0187 % 0 0; 0188 % 0 0; 0189 % 0 0]; 0190 % 0191 % 0192 % end 0193