%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% PARAMETERS Returns a data structure containing the parameters of the KUKA KR6/2. Author: c.Escoto, E.León, V.Martinez y L.Mijares email: carlos.escoto@alu.umh.es %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of the 0003 % KUKA KR6/2. 0004 % 0005 % Author: c.Escoto, E.León, V.Martinez y L.Mijares 0006 % email: carlos.escoto@alu.umh.es 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 0028 %Path where everything is stored for this robot 0029 %robot.path = 'robots/kuka/KR6_2'; 0030 0031 %DH 0032 robot.DH.theta= '[ q(1) q(2)-pi/2 q(3) q(4) q(5) q(6) ]'; 0033 robot.DH.d=' [ 0.675 0 0 -0.67 0 -0.115 ]'; 0034 robot.DH.a=' [ 0.26 0.68 -0.035 0 0 0 ]'; 0035 robot.DH.alpha= '[ -pi/2 0 pi/2 -pi/2 pi/2 pi ]'; 0036 0037 0038 %robot.J=[]; 0039 robot.name= 'KR6_2'; 0040 0041 robot.inversekinematic_fn = 'inversekinematic_kuka_kr6_2(robot, T)'; 0042 0043 %number of degrees of freedom 0044 robot.DOF = 6; 0045 0046 %rotational: 0, translational: 1 0047 robot.kind=['R' 'R' 'R' 'R' 'R' 'R']; 0048 0049 %minimum and maximum rotation angle in rad 0050 robot.maxangle =[deg2rad(-185) deg2rad(185); %Axis 1, minimum, maximum -185 a 185 0051 deg2rad(-155) deg2rad(35); %Axis 2, minimum, maximum 0052 deg2rad(-130) deg2rad(154); %Axis 3 0053 deg2rad(-350) deg2rad(350); %Axis 4: Unlimited (400º default) 0054 deg2rad(-130) deg2rad(130); %Axis 5 0055 deg2rad(-350) deg2rad(350)]; %Axis 6: Unlimited (800º default) 0056 0057 %maximum absolute speed of each joint rad/s or m/s 0058 robot.velmax = [deg2rad(156); %Axis 1, rad/s 0059 deg2rad(156); %Axis 2, rad/s 0060 deg2rad(156); %Axis 3, rad/s 0061 deg2rad(343); %Axis 4, rad/s 0062 deg2rad(362); %Axis 5, rad/s 0063 deg2rad(659)];%Axis 6, rad/s 0064 % end effectors maximum velocity 0065 robot.linear_velmax = 1.0; %m/s, not specified 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 0076 % GRAPHICS 0077 robot.graphical.has_graphics=1; 0078 robot.graphical.color = [255 20 40]./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=[-1.5 1.5 -1.5 1.5 0 2]; 0088 %read graphics files 0089 robot = read_graphics(robot); 0090 0091 %DYNAMICS 0092 robot.has_dynamics=0;