parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   ABB IRB1600_6_120.

   Author: Encarnacion Sanchez Luis
           David Barrero Nunez
           Raquel Blazquez Corral
           Universidad Miguel Hernandez de Elche. 
  date:   20/12/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   ABB IRB1600_6_120.
0004 %
0005 %   Author: Encarnacion Sanchez Luis
0006 %           David Barrero Nunez
0007 %           Raquel Blazquez Corral
0008 %           Universidad Miguel Hernandez de Elche.
0009 %  date:   20/12/2012
0010 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0011 
0012 % En este fichero hemos introducido parametros del robot
0013 % ABB IRB 1600 6/120 tales como la matriz D-H, los rangos de trabajo y
0014 % las velocidades maximas de las articulaciones.
0015 % Si introducimos los siguiente comando calcularemos la matriz T.
0016 
0017 % q=[q1 q2 q3 q4 q5 q6]
0018 % T=directkinematic(robot,q)
0019 
0020 
0021 % Copyright (C) 2012, by Arturo Gil Aparicio
0022 %
0023 % This file is part of ARTE (A Robotics Toolbox for Education).
0024 %
0025 % ARTE is free software: you can redistribute it and/or modify
0026 % it under the terms of the GNU Lesser General Public License as published by
0027 % the Free Software Foundation, either version 3 of the License, or
0028 % (at your option) any later version.
0029 %
0030 % ARTE is distributed in the hope that it will be useful,
0031 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0032 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0033 % GNU Lesser General Public License for more details.
0034 %
0035 % You should have received a copy of the GNU Leser General Public License
0036 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0037 function robot = parameters()
0038 
0039 robot.name= 'IRB1600_6_120';
0040 
0041 %Path where everything is stored for this robot
0042 robot.path = 'robots/abb/IRB1600_6_120';
0043 
0044 robot.DH.theta= '[q(1)   q(2)-pi/2 q(3)   q(4)   q(5)   q(6)+pi]';
0045 robot.DH.d='[    0.4865     0        0    0.600    0    0.065]';
0046 robot.DH.a='[    0.150    0.475      0     0       0     0]';
0047 robot.DH.alpha= '[-pi/2      0     -pi/2  pi/2   -pi/2   0]';
0048 
0049 robot.J=[];
0050 
0051 
0052 robot.inversekinematic_fn = 'inversekinematic_irb1600_6_120(robot, T)';
0053 
0054 %number of degrees of freedom
0055 robot.DOF = 6;
0056 
0057 %rotational: 0, translational: 1
0058 robot.kind=['R' 'R' 'R' 'R' 'R' 'R'];
0059 
0060 %minimum and maximum rotation angle in rad
0061 robot.maxangle =[deg2rad(-200) deg2rad(200); %Axis 1, minimum, maximum
0062                 deg2rad(-63) deg2rad(136); %Axis 2, minimum, maximum
0063                 deg2rad(-235) deg2rad(55); %Axis 3
0064                 deg2rad(-200) deg2rad(200); %Axis 4:
0065                 deg2rad(-115) deg2rad(115); %Axis 5
0066                 deg2rad(-400) deg2rad(400)]; %Axis 6:
0067 
0068 %maximum absolute speed of each joint rad/s or m/s
0069 robot.velmax = [deg2rad(150); %Axis 1, rad/s
0070                 deg2rad(160); %Axis 2, rad/s
0071                 deg2rad(170); %Axis 3, rad/s
0072                 deg2rad(320); %Axis 4, rad/s
0073                 deg2rad(400); %Axis 5, rad/s
0074                 deg2rad(460)];%Axis 6, rad/s
0075             
0076 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0077             
0078             % end effectors maximum velocity
0079 robot.linear_velmax = 1.0; %m/s, unavailable from datasheet
0080 
0081 %base reference system
0082 robot.T0 = eye(4);
0083 
0084 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0085 %position, velocity and acceleration
0086 robot=init_sim_variables(robot);
0087 
0088 
0089 % GRAPHICS
0090 robot.graphical.has_graphics=1;
0091 robot.graphical.color = [25 20 40];
0092 %for transparency
0093 robot.graphical.draw_transparent=0;
0094 %draw DH systems
0095 robot.graphical.draw_axes=1;
0096 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0097 %bigger robots
0098 robot.graphical.axes_scale=1;
0099 %adjust for a default view of the robot
0100 robot.axis=[-2 2 -2 2 0 2.5];
0101 %read graphics files
0102 robot = read_graphics(robot);
0103 
0104 %DYNAMICS
0105 robot.has_dynamics=0;