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PARAMETERS Returns a data structure containing the parameters of the
FANUC LR MATE 200iC, FANUC Robotics Europe.
Author: Israel Mira Anton
&
Juan Alejandro Andujar Cuenca,
Universidad Miguel Hernandez de Elche.
email: juan.andujar01@alu.umh.es & israel.mira@alu.umh.es
date: 19/12/2012
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of the 0003 % FANUC LR MATE 200iC, FANUC Robotics Europe. 0004 % 0005 % Author: Israel Mira Anton 0006 % & 0007 % Juan Alejandro Andujar Cuenca, 0008 % Universidad Miguel Hernandez de Elche. 0009 % email: juan.andujar01@alu.umh.es & israel.mira@alu.umh.es 0010 % date: 19/12/2012 0011 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0012 0013 0014 % Copyright (C) 2012, by Juan Alejandro And�jar Cuenca & Israel Mira 0015 % Ant�n. 0016 % 0017 % This file is part of ARTE (A Robotics Toolbox for Education). 0018 % 0019 % ARTE is free software: you can redistribute it and/or modify 0020 % it under the terms of the GNU Lesser General Public License as published by 0021 % the Free Software Foundation, either version 3 of the License, or 0022 % (at your option) any later version. 0023 % 0024 % ARTE is distributed in the hope that it will be useful, 0025 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0026 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0027 % GNU Lesser General Public License for more details. 0028 % 0029 % You should have received a copy of the GNU Leser General Public License 0030 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0031 function robot = parameters() 0032 0033 0034 robot.name= 'Fanuc_Lr_Mate_200iC'; 0035 0036 %Path where everything is stored for this robot 0037 robot.path = 'robots/fanuc/LR_MATE_200iC'; 0038 %Tabla de D-H 0039 robot.DH.theta= '[ q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)]'; 0040 robot.DH.d='[ 0.33 0 0 0.320 0 0.08]'; 0041 robot.DH.a='[ 0.075 0.300 0.075 0 0 0]'; 0042 robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]'; 0043 robot.J=[]; 0044 0045 0046 robot.inversekinematic_fn = 'inversekinematic_fanuc_mate(robot, T)'; 0047 0048 %number of degrees of freedom 0049 robot.DOF = 6; 0050 0051 %rotational: 0, translational: 1 0052 robot.kind=['R' 'R' 'R' 'R' 'R' 'R']; 0053 0054 %minimum and maximum rotation angle in rad 0055 robot.maxangle =[deg2rad(-155) deg2rad(155); %Axis 1, minimum, maximum 0056 deg2rad(-180) deg2rad(120); %Axis 2, minimum, maximum 0057 deg2rad(-150) deg2rad(150); %Axis 3 0058 deg2rad(-350) deg2rad(350); %Axis 4: Unlimited (400� default) 0059 deg2rad(-130) deg2rad(110); %Axis 5 0060 deg2rad(-360) deg2rad(360)]; %Axis 6: Unlimited (800� default) 0061 0062 %maximum absolute speed of each joint rad/s or m/s 0063 robot.velmax = [deg2rad(350); %Axis 1, rad/s 0064 deg2rad(350); %Axis 2, rad/s 0065 deg2rad(400); %Axis 3, rad/s 0066 deg2rad(450); %Axis 4, rad/s 0067 deg2rad(450); %Axis 5, rad/s 0068 deg2rad(720)];%Axis 6, rad/s 0069 % end effectors maximum velocity 0070 robot.linear_velmax = 1.0; %m/s, not specified 0071 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time 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 0080 0081 % GRAPHICS 0082 robot.graphical.has_graphics=1; 0083 robot.graphical.color = [153 255 0]%./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=[-1.5 1.5 -1.5 1.5 0 2]; 0093 %read graphics files 0094 robot = read_graphics(robot); 0095 0096 %DYNAMICS 0097 robot.has_dynamics=0;