parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   example 3 DOF spherical 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 spherical 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 spherical arm';
0028 
0029 robot.L1=0.3;
0030 robot.L2=0.7;
0031 
0032 %kinematic data DH parameters
0033 %a parameter are equal to L1&L2
0034 robot.DH.theta='[q(1) q(2) q(3)]';
0035 robot.DH.d='[0  0  0]';
0036 robot.DH.a='[0.3  0  0.7]';
0037 robot.DH.alpha='[0  pi/2  0]';
0038 
0039 %number of degrees of freedom
0040 robot.DOF = 3;
0041 
0042 %initial joint angle
0043 robot.q=[pi/3 0 0];
0044 
0045 %Jacobian matrix
0046 robot.J=[];
0047 
0048 robot.kind=['R' 'R' 'R'];
0049 
0050 
0051 %Function name to compute inverse kinematic
0052 robot.inversekinematic_fn = 'inversekinematic_3dofspherical(robot, T)';
0053 robot.directkinematic_fn = 'directkinematic(robot, q)';
0054 
0055 %minimum and maximum rotation angle in rad
0056 robot.maxangle =[deg2rad(-180) deg2rad(180); %Axis 1, minimum, maximum
0057                 deg2rad(-180) deg2rad(180);
0058                 deg2rad(-180) deg2rad(180)]; %Axis 2, minimum, maximum
0059                 
0060 %maximum absolute speed of each joint rad/s or m/s
0061 robot.velmax = []; %empty, not available
0062 
0063 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0064 % end effectors maximum velocity
0065 robot.linear_velmax = 0; %m/s, example, not available
0066 
0067 %base reference system
0068 robot.T0 = eye(4);
0069 
0070 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0071 %position, velocity and acceleration
0072 robot=init_sim_variables(robot);
0073 robot.path = pwd;
0074 
0075 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0076 %GRAPHICS
0077 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0078 %read graphics files
0079 robot.graphical.has_graphics=1;
0080 robot.graphical.color = [255 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=[-3.5 3.5 -3.5 3.5 0 1]
0090 robot = read_graphics(robot);
0091 
0092 
0093 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0094 %DYNAMIC PARAMETERS
0095 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0096 robot.has_dynamics=1;
0097 
0098 %link masses (kg)
0099 robot.m=[1 1 1] ;
0100 
0101 %COM of each link with respect to own reference system
0102 robot.r=[-0.5      0         0; %(rx, ry, rz) link 1
0103          -0.5      0         0;
0104          -0.5      0         0];%(rx, ry, rz) link 2
0105 
0106 %link masses
0107 m1 = robot.m(1);
0108 m2 = robot.m(2);
0109 m3 = robot.m(3);
0110 
0111 L1 = robot.DH.a(1);
0112 L2 = robot.DH.a(2);
0113 L3 = robot.DH.a(3);
0114 
0115 %Momentos de inercia de cada eslabon.
0116 % Ixx    Iyy    Izz    Ixy    Iyz    Ixz, por cada fila
0117 robot.I=[0   0   m1*L1/3    0    0    0;
0118          0   0   m2*L2/3    0    0    0;
0119          0   0   m3*L3/3    0    0    0];
0120      
0121 %Actuator rotor inertia
0122 robot.Jm=[0 0 0];
0123 %Reduction ration motor/joint speed
0124 robot.G=[0 0 0];
0125 %consider friction
0126 robot.friction=1;
0127 %Viscous friction factor, motor referred
0128 %robot.B = [1e-3  1e-3 1e-3];
0129 robot.B = [0  0 0];
0130 %Coulomb friction, motor referred
0131 robot.Tc = [0 0;
0132             0 0;
0133             0 0];
0134