parameters

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   PARAMETERS Returns a data structure containing the parameters of the
   KUKA KR5 scara Z200.

   Author: Arturo Gil. Universidad Miguel Hernández de Elche. 
   email: arturo.gil@umh.es date:   05/01/2012
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   KUKA KR5 scara Z200.
0004 %
0005 %   Author: Arturo Gil. Universidad Miguel Hernández de Elche.
0006 %   email: arturo.gil@umh.es date:   05/01/2012
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 robot.DH.theta= '[ q(1) q(2)    0      q(4)]';
0029 robot.DH.d='[     0.246  0      -q(3)+0.246 0]';
0030 robot.DH.a='[     0.125  0.225   0     0]';
0031 robot.DH.alpha= '[0      pi       pi     0]';
0032 robot.J=[];
0033 robot.name= 'KUKA_KR5_scara_R350_Z200';
0034 
0035 robot.inversekinematic_fn = 'inversekinematic_KUKA_KR5_scara_R350_Z200(robot, T)';
0036 
0037 %number of degrees of freedom
0038 robot.DOF = 4;
0039 
0040 %rotational: R, translational: T
0041 robot.kind=['R' 'R' 'T' 'R'];
0042 
0043 %minimum and maximum rotation angle in rad
0044 robot.maxangle =[deg2rad(-155) deg2rad(155); %Axis 1, minimum, maximum
0045                 deg2rad(-145) deg2rad(145); %Axis 2, minimum, maximum
0046                 0.046                0.200; %Axis 3, translational, max 200 mm
0047                 deg2rad(-358) deg2rad(358)]; %Axis 4
0048                 
0049 %maximum absolute speed of each joint rad/s or m/s
0050 robot.velmax = [deg2rad(525); %Axis 1, rad/s
0051                 deg2rad(525); %Axis 2, rad/s
0052                 deg2rad(2); %Axis 3, m/s
0053                 deg2rad(2400)]; %Axis 4, rad/s
0054                
0055             robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0056 % end effectors maximum velocity
0057 robot.linear_velmax = 1.0; %m/s, not specified
0058 
0059 %base reference system
0060 robot.T0 = eye(4);
0061 
0062 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0063 %position, velocity and acceleration
0064 robot=init_sim_variables(robot);
0065 robot.path = pwd;
0066 
0067 % GRAPHICS
0068 %read graphics files
0069 robot.graphical.has_graphics=1;
0070 robot.graphical.color = [255 20 40]./255;
0071 %for transparency
0072 robot.graphical.draw_transparent=0;
0073 %draw DH systems
0074 robot.graphical.draw_axes=1;
0075 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0076 %bigger robots
0077 robot.graphical.axes_scale=1;
0078 %adjust for a default view of the robot
0079 robot.axis=[-0.75 0.75 -0.75 0.75 0 0.8];
0080 robot = read_graphics(robot);
0081 
0082 %DYNAMICS
0083 robot.has_dynamics=0;