parameters

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   PARAMETERS Returns a data structure containing the parameters of the
   ABB IRB6620.

   Author: Arturo Gil. Universidad Miguel Hernández 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 IRB6620.
0004 %
0005 %   Author: Arturo Gil. Universidad Miguel Hernández 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_IRB6620LX';
0028 
0029 %Path where everything is stored for this robot
0030 robot.path = 'robots/abb/IRB6620';
0031 
0032 robot.DH.theta= '[0 q(2) q(3) q(4) q(5) q(6)+pi]';
0033 robot.DH.d='[q(1) 0 0 0.887 0 0.2]';
0034 robot.DH.a='[0.458 0.975 0.2 0 0 0]';
0035 robot.DH.alpha= '[0 0 pi/2 pi/2 -pi/2 0]';
0036 
0037 robot.J=[];
0038 
0039 
0040 robot.inversekinematic_fn = 'inversekinematic_irb6620lx(robot, T)';
0041 
0042 %number of degrees of freedom
0043 robot.DOF = 6;
0044 
0045 %rotational: 0, translational: 1
0046 robot.kind=['T' 'R' 'R' 'R' 'R' 'R'];
0047 
0048 %minimum and maximum rotation angle in rad
0049 robot.maxangle =[0 deg2rad(4); %Axis 1, minimum, maximum metros
0050                 deg2rad(-125) deg2rad(125); %Axis 2, minimum, maximum
0051                 deg2rad(-90) deg2rad(160); %Axis 3
0052                 deg2rad(-300) deg2rad(300); %Axis 4:
0053                 deg2rad(-130) deg2rad(130); %Axis 5
0054                 deg2rad(-300) deg2rad(300)]; %Axis 6:
0055 
0056 %maximum absolute speed of each joint rad/s or m/s
0057 robot.velmax = [deg2rad(100); %Axis 1, rad/s
0058                 deg2rad(90); %Axis 2, rad/s
0059                 deg2rad(90); %Axis 3, rad/s
0060                 deg2rad(150); %Axis 4, rad/s
0061                 deg2rad(120); %Axis 5, rad/s
0062                 deg2rad(190)];%Axis 6, rad/s
0063 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0064 % end effectors maximum velocity
0065 robot.linear_velmax = 1.0; %m/s, unavailable from datasheet
0066 
0067 %base reference system
0068 %robot.T0 = inv([1 0 0 0;0 0 1 0; 0 -1 0 0;0 0 0 1]);
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 
0076 % GRAPHICS
0077 robot.graphical.has_graphics=1;
0078 robot.graphical.color = [240 50 10]./255;
0079 %for transparency
0080 robot.graphical.draw_transparent=0;
0081 %draw DH systems
0082 robot.graphical.draw_axes=1;
0083 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0084 %bigger robots
0085 robot.graphical.axes_scale=1;
0086 %adjust for a default view of the robot
0087 robot.axis=[-6 6 -6 6 -4 4];
0088 %read graphics files
0089 robot = read_graphics(robot);
0090 
0091 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0092 %DYNAMIC PARAMETERS
0093 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0094 robot.has_dynamics=1;
0095 
0096 %link masses (kg)
0097 robot.dynamics.masses=[326.982 89.619 80.846 49.318 7.283 1.686];
0098 
0099 %COM of each link with respect to own reference system
0100 robot.dynamics.r_com=[-316.874       1.377          -40.242; %(rx, ry, rz) link 1
0101     -552.473     -0.253     219.498; %(rx, ry, rz) link 2
0102     -120.048 18.679 2.201;  %(rx, ry, rz) link 3
0103     1 442.422 -12.159;%(rx, ry, rz) link 4
0104     0 -89.606 -2.094;%(rx, ry, rz) link 5
0105     1 16.032 -3.930].*1e-3;%(rx, ry, rz) link 6
0106 
0107 
0108 %Inertia matrices of each link with respect to its D-H reference system.
0109 robot.dynamics.Inertia=[35.5307630619465,76.3147388769721,62.7770872661309,0.131721786807036,-0.637731134920212,-5.87048385153286;
0110     13.3386364580491,32.4037001118437,36.1957425196398,0.866790010319889,0.00543891938928600,10.8675859220909;
0111     1.92553868438793,3.35787383463243,3.78943248613387,-0.290429407043168,-0.204483156477234,-0.199291853261792;
0112     16.1102718353071,6.81439237229636,10.2418395340107,-0.0218202981960000,0.265212695895164,0.287981031562000;
0113     -0.0138921189843760,0.0373794232394120,-0.0218695382237880,-0.0585029529843760,-0.0564697985415640,-0.0585059539843760;
0114     0.00509586529186400,0.00462223710140000,0.00938631719046400,-6.42299520000000e-05,0.000112673711360000,4.40698000000000e-06]
0115 
0116 robot.motors=load_motors([5 5 5 4 4 4]);
0117 %Speed reductor at each joint
0118 robot.motors.G=[300 300 300 300 300 300];