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Script used to change the coordinates of the points stored in STL format
The coordinates in files link0_base.stl, link1_base.stl... are referred to
the base reference system. The script creates the files link0.stl,
link1.stl, link2.stl. The points in these files are referred to its own
D-H reference
USAGE: Please follow the steps below.
STEPS:
STEP 1: Name each of the links as link0_base.stl, link1_base.stl,
link2_base.stl. And save them under the same directory of your robot,
namely, robots/abb/IRB6620.
The vertices in each of the STL files are referred to the reference
system of the robot base. They are normally expressed in millimeters.
script
STEP 2: In robots/abb/IRB6620/parameters.m, set robot.graphical.has_graphics=0
STEP 3: Now you should visualize the STL files. They are normally
referred to the robots base reference system.
STEP 4: Write the DH parameters of your robot.
STEP 5: The units of your STL files are generally millimeters. If they
are meters, change the variable mm2m=1 in the following call script.
Run transform_to_own
>>transform_to_own('ABB', 'IRB6620', 1000)
which changes the units in the stl file to the standard meters.
The script should create the files link0.stl, link1.stl, ... etc.
Each referred to its own reference system.
STEP 6: In robots/abb/IRB6620/parameters.m, set
robot.graphical.has_graphics=1. Now you've got graphics for your robot!
STEP 7: Load the robot:
>> robot=load_robot('abb', 'IRB6620');
>> drawrobot3d(robot, [0 0 0 0 0 0])
you should see your robot in 3D
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % Script used to change the coordinates of the points stored in STL format 0003 % The coordinates in files link0_base.stl, link1_base.stl... are referred to 0004 % the base reference system. The script creates the files link0.stl, 0005 % link1.stl, link2.stl. The points in these files are referred to its own 0006 % D-H reference 0007 % USAGE: Please follow the steps below. 0008 % STEPS: 0009 % STEP 1: Name each of the links as link0_base.stl, link1_base.stl, 0010 % link2_base.stl. And save them under the same directory of your robot, 0011 % namely, robots/abb/IRB6620. 0012 % The vertices in each of the STL files are referred to the reference 0013 % system of the robot base. They are normally expressed in millimeters. 0014 % script 0015 % 0016 % STEP 2: In robots/abb/IRB6620/parameters.m, set robot.graphical.has_graphics=0 0017 % 0018 % STEP 3: Now you should visualize the STL files. They are normally 0019 % referred to the robots base reference system. 0020 % 0021 % STEP 4: Write the DH parameters of your robot. 0022 % 0023 % STEP 5: The units of your STL files are generally millimeters. If they 0024 % are meters, change the variable mm2m=1 in the following call script. 0025 % Run transform_to_own 0026 % 0027 % >>transform_to_own('ABB', 'IRB6620', 1000) 0028 % 0029 % which changes the units in the stl file to the standard meters. 0030 % The script should create the files link0.stl, link1.stl, ... etc. 0031 % Each referred to its own reference system. 0032 % 0033 % STEP 6: In robots/abb/IRB6620/parameters.m, set 0034 % robot.graphical.has_graphics=1. Now you've got graphics for your robot! 0035 % 0036 % STEP 7: Load the robot: 0037 % >> robot=load_robot('abb', 'IRB6620'); 0038 % >> drawrobot3d(robot, [0 0 0 0 0 0]) 0039 % you should see your robot in 3D 0040 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0041 0042 % Copyright (C) 2012, by Arturo Gil Aparicio 0043 % 0044 % This file is part of ARTE (A Robotics Toolbox for Education). 0045 % 0046 % ARTE is free software: you can redistribute it and/or modify 0047 % it under the terms of the GNU Lesser General Public License as published by 0048 % the Free Software Foundation, either version 3 of the License, or 0049 % (at your option) any later version. 0050 % 0051 % ARTE is distributed in the hope that it will be useful, 0052 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0053 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0054 % GNU Lesser General Public License for more details. 0055 % 0056 % You should have received a copy of the GNU Leser General Public License 0057 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0058 0059 function transform_to_own(manufacturer,model, mm2m) 0060 0061 %save current path 0062 path=pwd; 0063 0064 %load basic parameters for the robot 0065 %CHANGE ROBOT name accordingly 0066 robot = load_robot(manufacturer, model); 0067 0068 q=[0 0 0 0 0 0]; 0069 % Denavit-Hartenberg parameters of the robot 0070 theta = eval(robot.DH.theta); 0071 d = eval(robot.DH.d); 0072 a = eval(robot.DH.a); 0073 alfa = eval(robot.DH.alpha); 0074 0075 n=length(theta); %# number of DOFs 0076 T=eye(4); 0077 0078 for i=0:robot.DOF, 0079 fprintf('\nReading link %d BASE\n %s\n', i, sprintf([robot.path '/link%d_base.stl'], i)); 0080 %read file in base reference system. Please note that link0 is already 0081 %defined in the base reference system. In the first loop T= identity 0082 [fout, vout, cout] = stl_read(sprintf([robot.path '/link%d_base.stl'], i)); 0083 0084 %change points from mm to meters. 0085 V=vout/mm2m; 0086 V(:,4) = ones(length(V),1); %homogeneous coordinates 0087 0088 %You can also specify any homogeneous transformation matrix here 0089 % T=[1 0 0 -0.06/2; 0090 % 0 1 0 0.1/2; 0091 % 0 0 1 0.02/2; 0092 % 0 0 0 1] 0093 0094 %Or even re-scale the points 0095 % T=[2 0 0 0; 0096 % 0 1/2 0 0; 0097 % 0 0 1/5 0; 0098 % 0 0 0 1]; 0099 0100 %inverse transform, the points V in link i are now referred to its own D-H reference system 0101 V = (inv(T)*V')'; 0102 V = V(:,1:3); 0103 fprintf('\nWriting link %d\n %s\n', i, sprintf([robot.path '/link%d.stl'], i)); 0104 stlwrite(sprintf([robot.path '/link%d.stl'], i), fout, V, 'mode', 'ascii'); 0105 %compute transformation for the next link 0106 if (i+1) > robot.DOF 0107 continue; 0108 end 0109 T = T*dh(theta(i+1), d(i+1), a(i+1), alfa(i+1)); 0110 end 0111 0112 %restore path 0113 cd(path); 0114 0115 %load the robot again for changes to take place 0116 robot = load_robot(manufacturer, model); 0117