%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% PARAMETERS Returns a data structure containing the parameters of the ABB IRB2400. Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. email: arturo.gil@umh.es date: 09/01/2012 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of the 0003 % ABB IRB2400. 0004 % 0005 % Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. 0006 % email: arturo.gil@umh.es date: 09/01/2012 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= 'ABB_IRB2400'; 0028 0029 %Path where everything is stored for this robot 0030 robot.path = 'robots/abb/IRB2400'; 0031 0032 robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)+pi]'; 0033 robot.DH.d='[0.615 0 0 0.755 0 0.085]'; 0034 robot.DH.a='[0.100 0.705 0.135 0 0 0]'; 0035 robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]'; 0036 0037 robot.J=[]; 0038 0039 0040 robot.inversekinematic_fn = 'inversekinematic_irb2400(robot, T)'; 0041 0042 %number of degrees of freedom 0043 robot.DOF = 6; 0044 0045 %rotational: 0, translational: 1 0046 robot.kind=['R' 'R' 'R' 'R' 'R' 'R']; 0047 0048 %minimum and maximum rotation angle in rad 0049 robot.maxangle =[deg2rad(-180) deg2rad(180); %Axis 1, minimum, maximum 0050 deg2rad(-105) deg2rad(105); %Axis 2, minimum, maximum 0051 deg2rad(-62.5) deg2rad(62.5); %Axis 3 0052 deg2rad(-200) deg2rad(200); %Axis 4: 0053 deg2rad(-120) deg2rad(120); %Axis 5 0054 deg2rad(-400) deg2rad(400)]; %Axis 6: 0055 0056 %maximum absolute speed of each joint rad/s or m/s 0057 robot.velmax = [deg2rad(150); %Axis 1, rad/s 0058 deg2rad(150); %Axis 2, rad/s 0059 deg2rad(150); %Axis 3, rad/s 0060 deg2rad(360); %Axis 4, rad/s 0061 deg2rad(360); %Axis 5, rad/s 0062 deg2rad(450)];%Axis 6, rad/s 0063 0064 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time 0065 % end effectors maximum velocity 0066 robot.linear_velmax = 1.0; %m/s, unavailable from datasheet 0067 0068 %base reference system 0069 robot.T0 = eye(4); 0070 0071 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION 0072 %position, velocity and acceleration 0073 robot=init_sim_variables(robot); 0074 0075 0076 % GRAPHICS 0077 robot.graphical.has_graphics=1; 0078 robot.graphical.color = [255 20 20]./255; 0079 %for transparency 0080 robot.graphical.draw_transparent=0; 0081 %draw DH systems 0082 robot.graphical.draw_axes=1; 0083 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for 0084 %bigger robots 0085 robot.graphical.axes_scale=1; 0086 %adjust for a default view of the robot 0087 robot.axis=[-2 2 -2 2 0 2.5]; 0088 %read graphics files 0089 robot = read_graphics(robot); 0090 0091 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0092 %DYNAMIC PARAMETERS 0093 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0094 0095 robot.has_dynamics=1; 0096 0097 %link masses (kg) 0098 robot.dynamics.masses=[0 269 60 30 20 1]; 0099 0100 %COM of each link with respect to own reference system 0101 robot.dynamics.r_com=[0 0.05 0; %(rx, ry, rz) link 1 0102 -0.550 0 0.020; %(rx, ry, rz) link 2 0103 0 0 0; %(rx, ry, rz) link 3 0104 0 -0.3775 0;%(rx, ry, rz) link 4 0105 0 0 0;%(rx, ry, rz) link 5 0106 0 0 0.032];%(rx, ry, rz) link 6 0107 0108 0109 %Inertia matrices of each link with respect to its D-H reference system. 0110 % Ixx Iyy Izz Ixy Iyz Ixz, for each row 0111 robot.dynamics.Inertia=[0 0.35 0 0 0 0; 0112 .13 .524 .539 0 0 0; 0113 .066 .086 .0125 0 0 0; 0114 1.8e-3 1.3e-3 1.8e-3 0 0 0; 0115 .3e-3 .4e-3 .3e-3 0 0 0; 0116 .15e-3 .15e-3 .04e-3 0 0 0]; 0117 0118 0119 robot.motors=load_motors([5 5 5 4 4 4]); 0120 %Speed reductor at each joint 0121 robot.motors.G=[300 300 300 300 300 300];