parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   KUKA KR30 L16 2

   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 %   KUKA KR30 L16 2
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 robot.DH.theta= '[-q(1) q(2)-pi/2 q(3)   q(4) q(5) q(6)]';
0029 robot.DH.d='[0.815          0     0    1.545 0 0.158]';
0030 robot.DH.a='[0.350         1.2    0.145    0 0 0]';
0031 robot.DH.alpha= '[-pi/2 0 -pi/2 pi/2 -pi/2 0]';
0032 robot.J=[];
0033 robot.name= 'KUKA_KR30_L16_2';
0034 
0035 robot.inversekinematic_fn = 'inversekinematic_kuka_kr_30_L16_2(robot, T)';
0036 
0037 %number of degrees of freedom
0038 robot.DOF = 6;
0039 
0040 %rotational: 0, translational: 1
0041 robot.kind=['R' 'R' 'R' 'R' 'R' 'R'];
0042 
0043 %minimum and maximum rotation angle in rad
0044 robot.maxangle =[deg2rad(-185) deg2rad(185); %Axis 1, minimum, maximum
0045                 deg2rad(-135) deg2rad(35); %Axis 2, minimum, maximum
0046                 deg2rad(-120) deg2rad(158); %Axis 3
0047                 deg2rad(-350) deg2rad(350); %Axis 4
0048                 deg2rad(-130) deg2rad(130); %Axis 5
0049                 deg2rad(-350) deg2rad(350)]; %Axis 6
0050 
0051 %maximum absolute speed of each joint rad/s or m/s
0052 robot.velmax = [deg2rad(100); %Axis 1, rad/s
0053                 deg2rad(80); %Axis 2, rad/s
0054                 deg2rad(80); %Axis 3, rad/s
0055                 deg2rad(230); %Axis 4, rad/s
0056                 deg2rad(165); %Axis 5, rad/s
0057                 deg2rad(249)];%Axis 6, rad/s
0058 % end effectors maximum velocity
0059 robot.linear_velmax = 2.0; %m/s
0060 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0061 %base reference system
0062 robot.T0 = eye(4);
0063 
0064 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0065 %position, velocity and acceleration
0066 robot=init_sim_variables(robot);
0067 
0068 % GRAPHICS
0069 robot.graphical.has_graphics=1;
0070 robot.graphical.color = [200 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=[-2 2 -2 2 0 2.5];
0080 %read graphics files
0081 robot = read_graphics(robot);
0082 
0083 %DYNAMICS
0084 robot.has_dynamics=0;