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PARAMETERS Returns a data structure containing the parameters of the
RX160L.
Author: RUBEN HERNANDEZ SANCHEZ
ADRIAN DELGADO GARCIA
ALEJANDRO MONTOYA GRACIA
CARMEN MIRALLES PEREZ. Universidad Miguel Hernández de Elche.
email: arturo.gil@umh.es date: 09/01/2012
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Copyright (C) 2012, by Arturo Gil Aparicio
This file is part of ARTE (A Robotics Toolbox for Education).
ARTE is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
ARTE is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Leser General Public License
along with ARTE. If not, see <http://www.gnu.org/licenses/>.0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of the 0003 % RX160L. 0004 % 0005 % Author: RUBEN HERNANDEZ SANCHEZ 0006 % ADRIAN DELGADO GARCIA 0007 % ALEJANDRO MONTOYA GRACIA 0008 % CARMEN MIRALLES PEREZ. Universidad Miguel Hernández de Elche. 0009 % email: arturo.gil@umh.es date: 09/01/2012 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 function robot = parameters() 0029 0030 robot.name= 'RX160L'; 0031 0032 %Path where everything is stored for this robot 0033 robot.path = 'robots/staubli/RX160L'; 0034 0035 robot.DH.theta= '[q(1) q(2)-pi/2 q(3)+pi/2 q(4) q(5) q(6)]'; 0036 robot.DH.d='[0.55 0 0 0.925 0 0.11]'; 0037 robot.DH.a='[0.15 0.825 0 0 0 0]'; 0038 robot.DH.alpha= '[-pi/2 0 pi/2 -pi/2 pi/2 0]'; 0039 robot.J=[]; 0040 0041 0042 robot.inversekinematic_fn = 'inversekinematic_rx160l(robot, T)'; 0043 0044 %number of degrees of freedom 0045 robot.DOF = 6; 0046 0047 %rotational: 0, translational: 1 0048 robot.kind=['R' 'R' 'R' 'R' 'R' 'R']; 0049 0050 %minimum and maximum rotation angle in rad 0051 robot.maxangle =[deg2rad(-160) deg2rad(160); %Axis 1, minimum, maximum 0052 deg2rad(-137.5) deg2rad(137.5); %Axis 2, minimum, maximum 0053 deg2rad(-150) deg2rad(150); %Axis 3 0054 deg2rad(-270) deg2rad(270); %Axis 4: Unlimited (400º default) 0055 deg2rad(-105) deg2rad(120); %Axis 5 0056 deg2rad(-270) deg2rad(270)]; %Axis 6: Unlimited (800º default) 0057 0058 %maximum absolute speed of each joint rad/s or m/s 0059 robot.velmax = [deg2rad(200); %Axis 1, rad/s 0060 deg2rad(200); %Axis 2, rad/s 0061 deg2rad(255); %Axis 3, rad/s 0062 deg2rad(315); %Axis 4, rad/s 0063 deg2rad(360); %Axis 5, rad/s 0064 deg2rad(870)];%Axis 6, rad/s 0065 0066 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time 0067 0068 % end effectors maximum velocity 0069 robot.linear_velmax = 1.0; %m/s 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 % GRAPHICS 0079 robot.graphical.has_graphics=1; 0080 robot.graphical.color = [250 20 40]./255; 0081 %for transparency 0082 robot.graphical.draw_transparent=0; 0083 %draw DH systems 0084 robot.graphical.draw_axes=1; 0085 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for 0086 %bigger robots 0087 robot.graphical.axes_scale=1; 0088 %adjust for a default view of the robot 0089 robot.axis=[-1.5 1.5 -1.5 1.5 0 3.2]; 0090 %read graphics files 0091 robot = read_graphics(robot); 0092 0093 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0094 %DYNAMIC PARAMETERS 0095 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0096 robot.has_dynamics=1; 0097 0098 %link masses (kg) 0099 robot.dynamics.masses=[62.594 70.748 27.260 38.302 0.756 0.053]; 0100 0101 %consider friction in the computations 0102 robot.dynamics.friction=0; 0103 0104 0105 %COM of each link with respect to own reference system 0106 robot.dynamics.r_com=[-0.13 0.47 -0.18; %(rx, ry, rz) link 1 0107 0 0 0; %(rx, ry, rz) link 2 0108 0.05 -0.55 -0.14; %(rx, ry, rz) link 3 0109 0 0.004 0;%(rx, ry, rz) link 4 0110 0.01 0 0;%(rx, ry, rz) link 5 0111 0 0 0];%(rx, ry, rz) link 6 0112 0113 %Inertia matrices of each link with respect to its D-H reference system. 0114 % Ixx Iyy Izz Ixy Iyz Ixz, for each row 0115 robot.dynamics.Inertia=[1.158 -0.031 -0.224 1.42 -0.038 1.469; 0116 7.277 0 0 7.641 0.011 0.671; 0117 0.344 0.007 -0.007 0.292 -0.001 0.329; 0118 1.909 0 0.059 1.893 0 0.237; 0119 0.001 0 0 0.001 0 0.001; 0120 0 0 0 0 0 0]; 0121 0122 robot.motors=load_motors([5 5 5 4 4 4]); 0123 %Speed reductor at each joint 0124 robot.motors.G=[300 300 300 300 300 300];