parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   Mitsubishi RV-6S robot with 6DOF.

   Authors: Paloma Garau de Meer
            Francisco Muñoz García
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   Mitsubishi RV-6S robot with 6DOF.
0004 %
0005 %   Authors: Paloma Garau de Meer
0006 %            Francisco Muñoz García
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='Mitsubishi RV-6S 6DOF robotic arm';
0028 
0029 %Path where everything is stored for this robot
0030 %robot.path = 'robots/mitsubishi/rv-6s';
0031 
0032 %kinematic data
0033 robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)]';
0034 robot.DH.d='[0.350 0 0 0.315 0 0.085]';
0035 robot.DH.a='[0.085 0.280 0.100 0 0 0]';
0036 robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]';
0037 
0038 %number of degrees of freedom
0039 robot.DOF = 6;
0040 
0041 %rotational: R, translational: T
0042 robot.kind=['R' 'R' 'R' 'R' 'R' 'R'];
0043 
0044 %Jacobian matrix
0045 robot.J=[];
0046 
0047 
0048 %Function name to compute inverse kinematic
0049 % options(1)=1 elbow up solution
0050 % options(1)=-1 elbow down solution
0051 % options(2)=1 wrist up solution
0052 % options(2)=-1 wrist down solution
0053 robot.inversekinematic_fn = 'inversekinematic_rv_6s(robot, T)';
0054 
0055 
0056 
0057 %minimum and maximum rotation angle in rad
0058 robot.maxangle =[deg2rad(-170) deg2rad(170); %Axis 1, minimum, maximum
0059                 deg2rad(-92) deg2rad(135); %Axis 2, minimum, maximum
0060                 deg2rad(-107) deg2rad(166); %Axis 3
0061                 deg2rad(-160) deg2rad(136); %Axis 4
0062                 deg2rad(-120) deg2rad(120); %Axis 5
0063                 deg2rad(-360) deg2rad(360)]; %Axis 6
0064 
0065 %maximum absolute speed of each joint rad/s or m/s
0066 robot.velmax = [deg2rad(401); %Axis 1, rad/s
0067                 deg2rad(321); %Axis 2, rad/s
0068                 deg2rad(401); %Axis 3, rad/s
0069                 deg2rad(352); %Axis 4, rad/s
0070                 deg2rad(450); %Axis 5, rad/s
0071                 deg2rad(660)];%Axis 6, rad/s
0072 % end effectors maximum velocity
0073 robot.linear_velmax = 9.3; %m/s
0074 
0075 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0076 %base reference system
0077 robot.T0 = eye(4);
0078 
0079 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0080 %position, velocity and acceleration
0081 robot=init_sim_variables(robot);
0082 
0083 
0084 % GRAPHICS
0085 robot.graphical.has_graphics=1;
0086 robot.graphical.color = [255 20 40]./255;
0087 %for transparency
0088 robot.graphical.draw_transparent=0;
0089 %draw DH systems
0090 robot.graphical.draw_axes=1;
0091 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0092 %bigger robots
0093 robot.graphical.axes_scale=1;
0094 %adjust for a default view of the robot
0095 robot.axis=[-1.5 1.5 -1.5 1.5 0 1.5];
0096 %read graphics files
0097 robot = read_graphics(robot);
0098 
0099 %DYNAMICS
0100 robot.has_dynamics=0;