%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% PARAMETERS Returns a data structure containing the parameters of the ABB IRB52. Authors: Jes�s Mena Oreja, David Maci� Sempere, Rodolfo Antonio Pesci. email: jesus.mena@alu.umh.es, david.macia@alu.umh.es, rodolfo.pesci@alu.umh.es %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of the 0003 % ABB IRB52. 0004 % 0005 % Authors: Jes�s Mena Oreja, David Maci� Sempere, Rodolfo Antonio Pesci. 0006 % email: jesus.mena@alu.umh.es, david.macia@alu.umh.es, 0007 % rodolfo.pesci@alu.umh.es 0008 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0009 0010 % Copyright (C) 2012, by Arturo Gil Aparicio 0011 % 0012 % This file is part of ARTE (A Robotics Toolbox for Education). 0013 % 0014 % ARTE is free software: you can redistribute it and/or modify 0015 % it under the terms of the GNU Lesser General Public License as published by 0016 % the Free Software Foundation, either version 3 of the License, or 0017 % (at your option) any later version. 0018 % 0019 % ARTE is distributed in the hope that it will be useful, 0020 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0021 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0022 % GNU Lesser General Public License for more details. 0023 % 0024 % You should have received a copy of the GNU Leser General Public License 0025 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0026 0027 % Nos hemos basado en el parameters.m del robot IRB140 por ser un robot muy 0028 % similar 0029 function robot = parameters() 0030 0031 robot.name= 'ABB_IRB52'; 0032 0033 %Path where everything is stored for this robot 0034 robot.path = 'robots/abb/IRB52'; 0035 0036 robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)+pi]'; 0037 robot.DH.d='[0.4865 0 0 0.6 0 0.065]'; 0038 robot.DH.a='[0.15 0.475 0 0 0 0]'; 0039 robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]'; 0040 robot.J=[]; 0041 0042 0043 robot.inversekinematic_fn = 'inversekinematic_irb52(robot, T)'; 0044 0045 %number of degrees of freedom 0046 robot.DOF = 6; 0047 0048 %rotational: 0, translational: 1 0049 robot.kind=['R' 'R' 'R' 'R' 'R' 'R']; 0050 0051 %minimum and maximum rotation angle in rad 0052 robot.maxangle =[-pi pi; %Axis 1, minimum, maximum 0053 deg2rad(-63) deg2rad(110); %Axis 2, minimum, maximum 0054 deg2rad(-235) deg2rad(55); %Axis 3 0055 deg2rad(-200) deg2rad(200); %Axis 4: Unlimited (400� default) 0056 deg2rad(-115) deg2rad(115); %Axis 5 0057 deg2rad(-400) deg2rad(400)]; %Axis 6: Unlimited (800� default) 0058 0059 %maximum absolute speed of each joint rad/s or m/s 0060 robot.velmax = [deg2rad(180); %Axis 1, rad/s 0061 deg2rad(180); %Axis 2, rad/s 0062 deg2rad(180); %Axis 3, rad/s 0063 deg2rad(320); %Axis 4, rad/s 0064 deg2rad(400); %Axis 5, rad/s 0065 deg2rad(460)];%Axis 6, rad/s 0066 0067 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time 0068 0069 % end effectors maximum velocity 0070 robot.linear_velmax = 2.5; %m/s �NO ESTA EN EL DATASHEET? 0071 0072 %base reference system 0073 robot.T0 = eye(4); 0074 0075 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION 0076 %position, velocity and acceleration 0077 robot=init_sim_variables(robot); 0078 0079 % GRAPHICS 0080 robot.graphical.has_graphics=1; 0081 robot.graphical.color = [1 0.2 0]; % Color parecido al del robot 0082 %for transparency 0083 robot.graphical.draw_transparent=0; 0084 %draw DH systems 0085 robot.graphical.draw_axes=1; 0086 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for 0087 %bigger robots 0088 robot.graphical.axes_scale=1; 0089 %adjust for a default view of the robot 0090 robot.axis=[-0.75 0.75 -0.75 0.75 0 1.2]; 0091 %read graphics files 0092 robot = read_graphics(robot); 0093 0094 %DYNAMICS 0095 robot.has_dynamics=0;