%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% PARAMETERS Returns a data structure containing the parameters of the KUKA KR5 arc, arc welding robot. Author: Arturo Gil. Universidad Miguel Hernández de Elche. email: arturo.gil@umh.es date: 08/01/2012 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of the 0003 % KUKA KR5 arc, arc welding robot. 0004 % 0005 % Author: Arturo Gil. Universidad Miguel Hernández 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= 'KUKA_KR5_arc'; 0030 0031 robot.DH.theta= '[ q(1) q(2)-pi/2 q(3) q(4) q(5) q(6)]'; 0032 robot.DH.d='[ 0.4 0 0 -0.620 0 -0.115]'; 0033 robot.DH.a='[ 0.180 0.6 0.120 0 0 0]'; 0034 robot.DH.alpha= '[ -pi/2 0 pi/2 -pi/2 pi/2 pi]'; 0035 robot.J=[]; 0036 0037 0038 robot.inversekinematic_fn = 'inversekinematic_kuka_kr5_arc(robot, T)'; 0039 0040 %number of degrees of freedom 0041 robot.DOF = 6; 0042 0043 %rotational: 0, translational: 1 0044 robot.kind=['R' 'R' 'R' 'R' 'R' 'R']; 0045 0046 %minimum and maximum rotation angle in rad 0047 robot.maxangle =[deg2rad(-155) deg2rad(155); %Axis 1, minimum, maximum 0048 deg2rad(-180) deg2rad(65); %Axis 2, minimum, maximum 0049 deg2rad(-15) deg2rad(158); %Axis 3 0050 deg2rad(-350) deg2rad(350); %Axis 4: Unlimited (400º default) 0051 deg2rad(-130) deg2rad(130); %Axis 5 0052 deg2rad(-350) deg2rad(350)]; %Axis 6: Unlimited (800º default) 0053 0054 %maximum absolute speed of each joint rad/s or m/s 0055 robot.velmax = [deg2rad(154); %Axis 1, rad/s 0056 deg2rad(154); %Axis 2, rad/s 0057 deg2rad(228); %Axis 3, rad/s 0058 deg2rad(343); %Axis 4, rad/s 0059 deg2rad(384); %Axis 5, rad/s 0060 deg2rad(721)];%Axis 6, rad/s 0061 % end effectors maximum velocity 0062 robot.linear_velmax = 1.0; %m/s, not specified 0063 0064 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time 0065 %base reference system 0066 robot.T0 = eye(4); 0067 0068 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION 0069 %position, velocity and acceleration 0070 robot=init_sim_variables(robot); 0071 robot.path = pwd; 0072 0073 % GRAPHICS 0074 robot.graphical.has_graphics=1; 0075 robot.graphical.color = [204 51 0]./255; 0076 %for transparency 0077 robot.graphical.draw_transparent=0; 0078 %draw DH systems 0079 robot.graphical.draw_axes=1; 0080 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for 0081 %bigger robots 0082 robot.graphical.axes_scale=1; 0083 %adjust for a default view of the robot 0084 robot.axis=[-1.5 1.5 -1.5 1.5 0 2]; 0085 %read graphics files 0086 robot = read_graphics(robot); 0087 0088 %DYNAMICS 0089 robot.has_dynamics=0;