parameters

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   PARAMETERS Returns a data structure containing the parameters of the
   ABB IRB140.

   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. 
   email: arturo.gil@umh.es date:   09/01/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   ABB IRB140.
0004 %
0005 %   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche.
0006 %   email: arturo.gil@umh.es date:   09/01/2012
0007 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0008 
0009 % Copyright (C) 2012, by Arturo Gil Aparicio
0010 %
0011 % This file is part of ARTE (A Robotics Toolbox for Education).
0012 %
0013 % ARTE is free software: you can redistribute it and/or modify
0014 % it under the terms of the GNU Lesser General Public License as published by
0015 % the Free Software Foundation, either version 3 of the License, or
0016 % (at your option) any later version.
0017 %
0018 % ARTE is distributed in the hope that it will be useful,
0019 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0020 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0021 % GNU Lesser General Public License for more details.
0022 %
0023 % You should have received a copy of the GNU Leser General Public License
0024 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0025 function robot = parameters()
0026 
0027 robot.name= 'ABB_IRB140_M2000';
0028 
0029 robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)+pi]';
0030 robot.DH.d='[0.352 0 0 0.380 0 0.065]';
0031 robot.DH.a='[0.070 0.360 0 0 0 0]';
0032 robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]';
0033 robot.J=[];
0034 
0035 
0036 robot.inversekinematic_fn = 'inversekinematic_irb140(robot, T)';
0037 robot.directkinematic_fn = 'directkinematic(robot, q)';
0038 
0039 
0040 %number of degrees of freedom
0041 robot.DOF = 6;
0042 
0043 %rotational: 0, translational: 1
0044 robot.kind=['R' 'R' 'R' 'R' 'R' 'R'];
0045 
0046 %minimum and maximum rotation angle in rad
0047 robot.maxangle =[-pi pi; %Axis 1, minimum, maximum
0048                 deg2rad(-100) deg2rad(100); %Axis 2, minimum, maximum
0049                 deg2rad(-220) deg2rad(60); %Axis 3
0050                 deg2rad(-200) deg2rad(200); %Axis 4: Unlimited (400� default)
0051                 deg2rad(-120) deg2rad(120); %Axis 5
0052                 deg2rad(-400) deg2rad(400)]; %Axis 6: Really Unlimited to (800� default)
0053 
0054 %maximum absolute speed of each joint rad/s or m/s
0055 robot.velmax = [deg2rad(200); %Axis 1, rad/s
0056                 deg2rad(200); %Axis 2, rad/s
0057                 deg2rad(260); %Axis 3, rad/s
0058                 deg2rad(360); %Axis 4, rad/s
0059                 deg2rad(360); %Axis 5, rad/s
0060                 deg2rad(450)];%Axis 6, rad/s
0061     
0062 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0063             
0064 % end effectors maximum velocity
0065 robot.linear_velmax = 2.5; %m/s
0066 
0067 
0068 
0069 %base reference system
0070 robot.T0 = eye(4);
0071 
0072 
0073 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0074 %position, velocity and acceleration
0075 robot=init_sim_variables(robot);
0076 robot.path = pwd;
0077 
0078 
0079 % GRAPHICS
0080 robot.graphical.has_graphics=1;
0081 robot.graphical.color = [255 102 51]./255;
0082 %for transparency
0083 robot.graphical.draw_transparent=0;
0084 %draw DH systems
0085 robot.graphical.draw_axes=1;
0086 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0087 %bigger robots
0088 robot.graphical.axes_scale=1;
0089 %adjust for a default view of the robot
0090 robot.axis=[-0.5 0.75 -0.75 0.75 0 1.1];
0091 %read graphics files
0092 robot = read_graphics(robot);
0093 
0094 
0095 
0096 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0097 % DYNAMIC PARAMETERS
0098 %   WARNING! These parameters do not correspond to the actual IRB 140
0099 %   robot. They have been introduced to demonstrate the necessity of
0100 %   simulating the robot and should be used only for educational purposes
0101 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0102 robot.has_dynamics=1;
0103 
0104 %consider friction in the computations
0105 robot.dynamics.friction=0;
0106 
0107 %link masses (kg)
0108 robot.dynamics.masses=[25 27 15 10 2.5 1.5];
0109 
0110 %COM of each link with respect to own reference system
0111 robot.dynamics.r_com=[0       0          0; %(rx, ry, rz) link 1
0112                      -0.05     0.006     0.1; %(rx, ry, rz) link 2
0113                     -0.0203    -0.0141     0.070;  %(rx, ry, rz) link 3
0114                      0       0.019       0;%(rx, ry, rz) link 4
0115                      0       0           0;%(rx, ry, rz) link 5
0116                      0       0         0.032];%(rx, ry, rz) link 6
0117 
0118 %Inertia matrices of each link with respect to its D-H reference system.
0119 % Ixx    Iyy    Izz    Ixy    Iyz    Ixz, for each row
0120 robot.dynamics.Inertia=[0      0.35    0       0    0    0;
0121     .13     .524    .539    0    0    0;
0122     .066    .086    .0125    0    0    0;
0123     1.8e-3    1.3e-3    1.8e-3    0    0    0;
0124     .3e-3    .4e-3    .3e-3    0    0    0;
0125     .15e-3    .15e-3    .04e-3    0    0    0];
0126 
0127 
0128 
0129 robot.motors=load_motors([5 5 5 4 4 4]);
0130 %Speed reductor at each joint
0131 robot.motors.G=[300 300 300 300 300 300];
0132