%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
PARAMETERS Returns a data structure containing the parameters of the
KUKA KR 1000 1300 TITAN arc, arc welding robot.
Authors: Javier Martínez González
José Francisco Muñoz Sempere
Silvia Carretero Monasor
Marcos Gómez Parres
Email: jose.munoz08@alu.umh.es
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of the 0003 % KUKA KR 1000 1300 TITAN arc, arc welding robot. 0004 % 0005 % Authors: Javier Martínez González 0006 % José Francisco Muñoz Sempere 0007 % Silvia Carretero Monasor 0008 % Marcos Gómez Parres 0009 % Email: jose.munoz08@alu.umh.es 0010 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0011 0012 % Copyright (C) 2012, by Arturo Gil Aparicio 0013 % 0014 % This file is part of ARTE (A Robotics Toolbox for Education). 0015 % 0016 % ARTE is free software: you can redistribute it and/or modify 0017 % it under the terms of the GNU Lesser General Public License as published by 0018 % the Free Software Foundation, either version 3 of the License, or 0019 % (at your option) any later version. 0020 % 0021 % ARTE is distributed in the hope that it will be useful, 0022 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0023 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0024 % GNU Lesser General Public License for more details. 0025 % 0026 % You should have received a copy of the GNU Leser General Public License 0027 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0028 % 0029 function robot = parameters() 0030 0031 0032 robot.name= 'KR_1000_1300_TITAN'; 0033 0034 %Path where everything is stored for this robot 0035 robot.path = 'robots/kuka/KR_1000_1300_TITAN'; 0036 %Tabla DH 0037 robot.DH.theta= '[ -q(1) q(2)+pi/2 q(3) q(4) q(5)-pi/2 q(6)]'; 0038 robot.DH.d='[ 1.1 0 0 -1.2 0 0.372]'; 0039 robot.DH.a='[ 0.6 -1.4 -0.065 0 0 0]'; 0040 robot.DH.alpha= '[ -pi/2 0 -pi/2 pi/2 -pi/2 0]'; 0041 robot.J=[]; 0042 0043 0044 robot.inversekinematic_fn = 'inversekinematic_KR_1000_1300_TITAN(robot, T)'; 0045 0046 %number of degrees of freedom 0047 robot.DOF = 6; 0048 0049 %rotational: 0, translational: 1 0050 robot.kind=['R' 'R' 'R' 'R' 'R' 'R']; 0051 0052 %minimum and maximum rotation angle in rad 0053 robot.maxangle =[deg2rad(-150) deg2rad(150); %Axis 1, minimum, maximum 0054 deg2rad(-130) deg2rad(17.5); %Axis 2, minimum, maximum 0055 deg2rad(-145) deg2rad(62); %Axis 3 0056 deg2rad(0) deg2rad(360); %Axis 4: Unlimited (400º default) 0057 deg2rad(-208) deg2rad(28); %Axis 5 0058 deg2rad(-350) deg2rad(350)]; %Axis 6: Unlimited (800º default) 0059 0060 %maximum absolute speed of each joint rad/s or m/s 0061 robot.velmax = [deg2rad(58); %Axis 1, rad/s 0062 deg2rad(50); %Axis 2, rad/s 0063 deg2rad(50); %Axis 3, rad/s 0064 deg2rad(60); %Axis 4, rad/s 0065 deg2rad(60); %Axis 5, rad/s 0066 deg2rad(72)];%Axis 6, rad/s 0067 % end effectors maximum velocity 0068 robot.linear_velmax = 1.0; %m/s, not specified 0069 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time 0070 0071 %base reference system 0072 robot.T0 = eye(4); 0073 0074 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION 0075 %position, velocity and acceleration 0076 robot=init_sim_variables(robot); 0077 0078 0079 % GRAPHICS 0080 robot.graphical.has_graphics=1; 0081 robot.graphical.color = [255 140 0]/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=[-3 3 -3 3 0 3]; 0091 %read graphics files 0092 robot = read_graphics(robot);