parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   KR 16 arc HW, arc welding robot.

   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. 
   email: arturo.gil@umh.es date:   08/01/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   KR 16 arc HW, arc welding robot.
0004 %
0005 %   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche.
0006 %   email: arturo.gil@umh.es date:   08/01/2012
0007 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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 function robot = parameters()
0027 
0028 
0029 robot.name= 'KR5_2ARC_HW';
0030 
0031 %Path where everything is stored for this robot
0032 robot.path = 'robots/kuka/KR5_2ARC_HW';
0033 
0034 robot.DH.theta= '[  q(1)  q(2)-(pi/2)     q(3)    q(4)    q(5)   q(6)]';
0035 robot.DH.d='[       0.4     0           0       0.62   0    0.2]';
0036 robot.DH.a='[       0.18   0.6         0.170    0       0      0]';
0037 robot.DH.alpha= '[  -pi/2   0          -pi/2    pi/2    -pi/2   0]';
0038 robot.J=[];
0039 
0040 robot.inversekinematic_fn = 'inversekinematic_kuka_kr5_2arc_HW(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(-155) deg2rad(155); %Axis 1, minimum, maximum
0050                 deg2rad(-90) deg2rad(155); %Axis 2, minimum, maximum
0051                 deg2rad(-200) deg2rad(80); %Axis 3
0052                 deg2rad(-175) deg2rad(175); %Axis 4: Unlimited (400� default)
0053                 deg2rad(-130) deg2rad(130); %Axis 5
0054                 deg2rad(-610) deg2rad(610)]; %Axis 6: Unlimited (800� default)
0055 
0056 %maximum absolute speed of each joint rad/s or m/s
0057 robot.velmax = [deg2rad(154); %Axis 1, rad/s
0058                 deg2rad(154); %Axis 2, rad/s
0059                 deg2rad(228); %Axis 3, rad/s
0060                 deg2rad(343); %Axis 4, rad/s
0061                 deg2rad(384); %Axis 5, rad/s
0062                 deg2rad(721)];%Axis 6, rad/s
0063 % end effectors maximum velocity
0064 robot.linear_velmax = 1.0; %m/s, not specified
0065 
0066 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
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 51 0]./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=[-1.5 1.5 -1.5 1.5 0 2];
0088 %read graphics files
0089 robot = read_graphics(robot);
0090 
0091 %DYNAMICS
0092 robot.has_dynamics=0;