parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   ABB IRB6650S_90_390.

   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. 
   email: arturo.gil@umh.es date:   09/01/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   ABB IRB6650S_90_390.
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_IRB6650S-90/390';
0028 
0029 %Path where everything is stored for this robot
0030 robot.path = 'robots/abb/IRB6650S_90_390';
0031 
0032 robot.DH.theta= '[q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)+pi]';
0033 robot.DH.d='[0.630 0 0 2.042 0 0.2]';
0034 robot.DH.a='[0.600 1.280 0.2 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_irb6650S_90_390(robot,T)';
0041 robot.directkinematic_fn = 'directkinematic(robot, q)';
0042 
0043 %number of degrees of freedom
0044 robot.DOF = 6;
0045 
0046 %rotational: 0, translational: 1
0047 robot.kind=['R' 'R' 'R' 'R' 'R' 'R'];
0048 
0049 %minimum and maximum rotation angle in rad
0050 robot.maxangle =[deg2rad(-180) deg2rad(180); %Axis 1, minimum, maximum
0051                 deg2rad(-40) deg2rad(160); %Axis 2, minimum, maximum
0052                 deg2rad(-180) deg2rad(70); %Axis 3
0053                 deg2rad(-300) deg2rad(300); %Axis 4:
0054                 deg2rad(-120) deg2rad(120); %Axis 5
0055                 deg2rad(-360) deg2rad(360)]; %Axis 6:
0056 
0057 %maximum absolute speed of each joint rad/s or m/s
0058 robot.velmax = [deg2rad(100); %Axis 1, rad/s
0059                 deg2rad(90); %Axis 2, rad/s
0060                 deg2rad(90); %Axis 3, rad/s
0061                 deg2rad(150); %Axis 4, rad/s
0062                 deg2rad(120); %Axis 5, rad/s
0063                 deg2rad(235)];%Axis 6, rad/s
0064 
0065 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0066             % end effectors maximum velocity
0067 robot.linear_velmax = 1.0; %m/s, unavailable from datasheet
0068 % end effectors maximum velocity
0069 robot.linear_velmax = 2.5; %m/s
0070 
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 robot.path = pwd;
0079 
0080 
0081 % GRAPHICS
0082 robot.graphical.has_graphics=1;
0083 robot.graphical.color = [255 20 40]./255;
0084 %for transparency
0085 robot.graphical.draw_transparent=0;
0086 %draw DH systems
0087 robot.graphical.draw_axes=1;
0088 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0089 %bigger robots
0090 robot.graphical.axes_scale=1;
0091 %adjust for a default view of the robot
0092 robot.axis=[-3 3 -3 3 0 3];
0093 %read graphics files
0094 robot = read_graphics(robot);
0095 
0096 %DYNAMICS
0097 robot.has_dynamics=0;