parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   example 3 DOF planar robot.

   Author: Arturo Gil. Universidad Miguel Hernández de Elche. 
   email: arturo.gil@umh.es date:   05/03/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   example 3 DOF planar robot.
0004 %
0005 %   Author: Arturo Gil. Universidad Miguel Hernández de Elche.
0006 %   email: arturo.gil@umh.es date:   05/03/2012
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='Example 3DOF planar arm';
0028 
0029 %kinematic data DH parameters
0030 robot.DH.theta='[q(1) q(2) q(3)]';
0031 robot.DH.d='[0  0  0]';
0032 robot.DH.a='[1  1  1]';
0033 robot.DH.alpha='[0  0  0]';
0034 
0035 %number of degrees of freedom
0036 robot.DOF = 3;
0037 
0038 %Jacobian matrix
0039 robot.J=[];
0040 
0041 robot.kind=['R' 'R' 'R'];
0042 
0043 
0044 %Function name to compute inverse kinematic
0045 robot.inversekinematic_fn = 'inversekinematic_3dofplanar(robot, T)';
0046 robot.directkinematic_fn = 'directkinematic(robot, q)';
0047 
0048 %minimum and maximum rotation angle in rad
0049 robot.maxangle =[deg2rad(-180) deg2rad(180); %Axis 1, minimum, maximum
0050                 deg2rad(-180) deg2rad(180);
0051                 deg2rad(-180) deg2rad(180)]; %Axis 2, minimum, maximum
0052                 
0053 %maximum absolute speed of each joint rad/s or m/s
0054 robot.velmax = []; %empty, not available
0055 
0056 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0057 % end effectors maximum velocity
0058 robot.linear_velmax = 0; %m/s, example, not available
0059 
0060 %base reference system
0061 robot.T0 = eye(4);
0062 
0063 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0064 %position, velocity and acceleration
0065 robot=init_sim_variables(robot);
0066 robot.path = pwd;
0067 
0068 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0069 %GRAPHICS
0070 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0071 %read graphics files
0072 robot.graphical.has_graphics=1;
0073 robot.graphical.color = [255 20 40]./255;
0074 %for transparency
0075 robot.graphical.draw_transparent=0;
0076 %draw DH systems
0077 robot.graphical.draw_axes=1;
0078 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0079 %bigger robots
0080 robot.graphical.axes_scale=1;
0081 %adjust for a default view of the robot
0082 robot.axis=[-3.5 3.5 -3.5 3.5 0 1]
0083 robot = read_graphics(robot);
0084 
0085 
0086 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0087 %DYNAMIC PARAMETERS
0088 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0089 robot.has_dynamics=1;
0090 
0091 %consider friction in the computations
0092 robot.dynamics.friction=0;
0093 
0094 %link masses (kg)
0095 robot.dynamics.masses=[1 1 1] ;
0096 
0097 %COM of each link with respect to own reference system
0098 robot.dynamics.r_com=[-0.5      0         0; %(rx, ry, rz) link 1
0099          -0.5      0         0;
0100          -0.5      0         0];%(rx, ry, rz) link 2
0101 
0102 %link masses
0103 m1 = robot.dynamics.masses(1);
0104 m2 = robot.dynamics.masses(2);
0105 m3 = robot.dynamics.masses(3);
0106 
0107 L1 = robot.DH.a(1);
0108 L2 = robot.DH.a(2);
0109 L3 = robot.DH.a(3);
0110 
0111 %Momentos de inercia de cada eslabon.
0112 % Ixx    Iyy    Izz    Ixy    Iyz    Ixz, por cada fila
0113 robot.dynamics.Inertia=[0   0   m1*L1/3    0    0    0;
0114          0   0   m2*L2/3    0    0    0;
0115          0   0   m3*L3/3    0    0    0];
0116      
0117 %Actuator rotor inertia
0118 robot.motors.Inertia=[0 0 0];
0119 %Reduction ratio motor/joint speed
0120 robot.motors.G=[1 1 1];
0121 %consider friction
0122 robot.friction=1;
0123 %Viscous friction factor, motor referred
0124 %robot.B = [1e-3  1e-3 1e-3];
0125 robot.motors.Viscous = [10  10 10];
0126 %Coulomb friction, motor referred
0127 robot.motors.Coulomb = [0 0;
0128             0 0;
0129             0 0];
0130