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= 'KR_16_arc_HW';
0030 
0031 robot.DH.theta= '[  q(1)  q(2)-pi/2     q(3)    q(4)    q(5)   q(6)]';
0032 robot.DH.d='[       0.675     0           0       -0.675   0    -0.2]';
0033 robot.DH.a='[       0.260   0.680         0.170    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_kr_16_arc_HW(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(-185) deg2rad(185); %Axis 1, minimum, maximum
0048                 deg2rad(-155) deg2rad(35); %Axis 2, minimum, maximum
0049                 deg2rad(-120) deg2rad(154); %Axis 3
0050                 deg2rad(-165) deg2rad(165); %Axis 4: Unlimited (400� default)
0051                 deg2rad(-130) deg2rad(130); %Axis 5
0052                 deg2rad(-610) deg2rad(610)]; %Axis 6: Unlimited (800� 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 = [25 20 40];
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;