parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   ABB IRB120.

   Author: Arturo Gil. Universidad Miguel Hernández de Elche. 
   email: arturo.gil@umh.es date:   20/11/2013
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   ABB IRB120.
0004 %
0005 %   Author: Arturo Gil. Universidad Miguel Hernández de Elche.
0006 %   email: arturo.gil@umh.es date:   20/11/2013
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= 'ABB_IRB120';
0028 
0029 robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)+pi]';
0030 robot.DH.d='[0.290 0 0 0.302 0 0.072]';
0031 robot.DH.a='[0 0.270 0.070 0 0 0]';
0032 robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]';
0033 
0034 robot.J=[];
0035 
0036 robot.inversekinematic_fn = 'inversekinematic_irb120(robot, T)';
0037 
0038 %number of degrees of freedom
0039 robot.DOF = 6;
0040 
0041 %rotational: 0, translational: 1
0042 robot.kind=['R' 'R' 'R' 'R' 'R' 'R'];
0043 
0044 %minimum and maximum rotation angle in rad
0045 robot.maxangle =[deg2rad(-165) deg2rad(165); %Axis 1, minimum, maximum
0046                 deg2rad(-110) deg2rad(110); %Axis 2, minimum, maximum
0047                 deg2rad(-110) deg2rad(70); %Axis 3
0048                 deg2rad(-160) deg2rad(160); %Axis 4:
0049                 deg2rad(-120) deg2rad(120); %Axis 5
0050                 deg2rad(-400) deg2rad(400)]; %Axis 6:
0051 
0052 %maximum absolute speed of each joint rad/s or m/s
0053 robot.velmax = [deg2rad(250); %Axis 1, rad/s
0054                 deg2rad(90); %Axis 2, rad/s
0055                 deg2rad(90); %Axis 3, rad/s
0056                 deg2rad(150); %Axis 4, rad/s
0057                 deg2rad(120); %Axis 5, rad/s
0058                 deg2rad(190)];%Axis 6, rad/s
0059 
0060 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0061             % end effectors maximum velocity
0062 robot.linear_velmax = 1.0; %m/s, unavailable from datasheet
0063 
0064 %base reference system
0065 robot.T0 = eye(4);
0066 
0067 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0068 %position, velocity and acceleration
0069 robot=init_sim_variables(robot);
0070 robot.path = pwd;
0071 
0072 % GRAPHICS
0073 robot.graphical.has_graphics=1;
0074 robot.graphical.color = [255 102 51]./255;
0075 %for transparency
0076 robot.graphical.draw_transparent=0;
0077 %draw DH systems
0078 robot.graphical.draw_axes=1;
0079 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0080 %bigger robots
0081 robot.graphical.axes_scale=1;
0082 %adjust for a default view of the robot
0083 robot.axis=[-1 1 -1 1 0 1.5];
0084 %read graphics files
0085 robot = read_graphics(robot);
0086 
0087 %DYNAMICS
0088 robot.has_dynamics=0;