%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% PARAMETERS Returns a data structure containing the parameters of the ABB IRB760. The IRB760 is mostly used as a palletizing robot. The robot possesses 4 DOF, though there exist actually 5 axes. A paralellogram (double) mechanism connects the base with the end link, thus restricting the orientation of the Z5 vector to a plane normal to the X0Y0 plane. No graphic files are yet available for this robot. Author: Arturo Gil. Universidad Miguel Hernández de Elche. email: arturo.gil@umh.es date: 20/11/2013 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of the 0003 % ABB IRB760. 0004 % 0005 % The IRB760 is mostly used as a palletizing robot. 0006 % The robot possesses 4 DOF, though there exist actually 5 axes. 0007 % A paralellogram (double) mechanism connects the base with the end link, 0008 % thus restricting the orientation of the Z5 vector to a plane normal to 0009 % the X0Y0 plane. 0010 % 0011 % No graphic files are yet available for this robot. 0012 % 0013 % Author: Arturo Gil. Universidad Miguel Hernández de Elche. 0014 % email: arturo.gil@umh.es date: 20/11/2013 0015 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0016 0017 % Copyright (C) 2012, by Arturo Gil Aparicio 0018 % 0019 % This file is part of ARTE (A Robotics Toolbox for Education). 0020 % 0021 % ARTE is free software: you can redistribute it and/or modify 0022 % it under the terms of the GNU Lesser General Public License as published by 0023 % the Free Software Foundation, either version 3 of the License, or 0024 % (at your option) any later version. 0025 % 0026 % ARTE is distributed in the hope that it will be useful, 0027 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0028 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0029 % GNU Lesser General Public License for more details. 0030 % 0031 % You should have received a copy of the GNU Leser General Public License 0032 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0033 function robot = parameters() 0034 0035 robot.name= 'ABB_IRB760'; 0036 0037 robot.DH.theta= '[q(1) q(2)-pi/2 q(3)+pi/2 -q(2)-q(3) q(5)]'; 0038 robot.DH.d='[0.8145 0 0 0 0.27]'; 0039 robot.DH.a='[0.3 1.28 1.35 0.29 0]'; 0040 robot.DH.alpha= '[-pi/2 0 0 -pi/2 0]'; 0041 0042 0043 0044 robot.J=[]; 0045 0046 robot.inversekinematic_fn = 'inversekinematic_irb760(robot, T)'; 0047 0048 %number of degrees of freedom 0049 robot.DOF = 5; 0050 0051 %rotational: 0, translational: 1 0052 robot.kind=['R' 'R' 'R' 'R' 'R']; 0053 0054 %minimum and maximum rotation angle in rad 0055 robot.maxangle =[deg2rad(-165) deg2rad(165); %Axis 1, minimum, maximum 0056 deg2rad(-110) deg2rad(110); %Axis 2, minimum, maximum 0057 deg2rad(-110) deg2rad(70); %Axis 3 0058 deg2rad(-160) deg2rad(160); %Axis 4: 0059 deg2rad(-120) deg2rad(120)]; %Axis 5: 0060 0061 %maximum absolute speed of each joint rad/s or m/s 0062 robot.velmax = [deg2rad(250); %Axis 1, rad/s 0063 deg2rad(90); %Axis 2, rad/s 0064 deg2rad(90); %Axis 3, rad/s 0065 deg2rad(150); %Axis 4, rad/s 0066 deg2rad(120)]; %Axis 5, rad/s 0067 0068 0069 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time 0070 % end effectors maximum velocity 0071 robot.linear_velmax = 1.0; %m/s, unavailable from datasheet 0072 0073 %base reference system 0074 robot.T0 = eye(4); 0075 0076 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION 0077 %position, velocity and acceleration 0078 robot=init_sim_variables(robot); 0079 robot.path = pwd; 0080 0081 % GRAPHICS 0082 robot.graphical.has_graphics=0; 0083 robot.graphical.color = [255 102 51]./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=[-2.5 2.5 -2.5 2.5 0 2.5]; 0093 0094 %read graphics files 0095 %robot = read_graphics(robot); 0096 0097 %DYNAMICS 0098 robot.has_dynamics=0;