parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   ABB IRB4400.

   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 IRB4400.
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_IRB4400';
0028 
0029 %Path where everything is stored for this robot
0030 
0031 
0032 robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)+pi]';
0033 robot.DH.d='[0.680 0 0 0.88 0 0.14]';
0034 robot.DH.a='[0.2 0.890 0.15 0 0 0]';
0035 robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]';
0036 robot.J=[];
0037 
0038 
0039 robot.inversekinematic_fn = 'inversekinematic_irb4400(robot, T)';
0040 
0041 %number of degrees of freedom
0042 robot.DOF = 6;
0043 
0044 %rotational: 0, translational: 1
0045 robot.kind=['R' 'R' 'R' 'R' 'R' 'R'];
0046 
0047 %minimum and maximum rotation angle in rad
0048 robot.maxangle =[deg2rad(-165) deg2rad(165);
0049     %-pi pi; %Axis 1, minimum, maximum
0050                 deg2rad(-70) deg2rad(95); %Axis 2, minimum, maximum
0051                 deg2rad(-60) deg2rad(65); %Axis 3
0052                 deg2rad(-200) deg2rad(200); %Axis 4: Unlimited (400� default)
0053                 deg2rad(-120) deg2rad(120); %Axis 5
0054                 deg2rad(-400) deg2rad(400)]; %Axis 6: Unlimited (800� default)
0055 
0056 %maximum absolute speed of each joint rad/s or m/s
0057 robot.velmax = [deg2rad(200); %Axis 1, rad/s
0058                 deg2rad(200); %Axis 2, rad/s
0059                 deg2rad(260); %Axis 3, rad/s
0060                 deg2rad(360); %Axis 4, rad/s
0061                 deg2rad(360); %Axis 5, rad/s
0062                 deg2rad(450)];%Axis 6, rad/s
0063 % end effectors maximum velocity
0064 robot.linear_velmax = 2.5; %m/s
0065 
0066 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0067 
0068 %base reference system
0069 robot.T0 = eye(4);
0070 
0071 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0072 %position, velocity and acceleration
0073 robot=init_sim_variables(robot);
0074 
0075 % GRAPHICS
0076 robot.graphical.has_graphics=1;
0077 robot.graphical.color = [255 102 51]./255;
0078 %for transparency
0079 robot.graphical.draw_transparent=1;
0080 %draw DH systems
0081 robot.graphical.draw_axes=1;
0082 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0083 %bigger robots
0084 robot.graphical.axes_scale=1;
0085 %adjust for a default view of the robot
0086 robot.axis=[-3 3 -3 3 0 3];
0087 %read graphics files
0088 robot = read_graphics(robot);
0089 
0090 %DYNAMICS
0091 robot.has_dynamics=0;