parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   bumper cutting machine. The machine is intended to be used as a working
   environment for robots. Please load it as:

   robot.environment = load_robot('environment','bumper_cutting')

   Author: Arturo Gil. Universidad Miguel Hernández de Elche. 
   email: arturo.gil@umh.es date:   05/12/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   bumper cutting machine. The machine is intended to be used as a working
0004 %   environment for robots. Please load it as:
0005 %
0006 %   robot.environment = load_robot('environment','bumper_cutting')
0007 %
0008 %   Author: Arturo Gil. Universidad Miguel Hernández de Elche.
0009 %   email: arturo.gil@umh.es date:   05/12/2012
0010 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0011 
0012 % Copyright (C) 2012, by Arturo Gil Aparicio
0013 %
0014 % This file is part of ARTE (A Robotics Toolbox for Education).
0015 %
0016 % ARTE is free software: you can redistribute it and/or modify
0017 % it under the terms of the GNU Lesser General Public License as published by
0018 % the Free Software Foundation, either version 3 of the License, or
0019 % (at your option) any later version.
0020 %
0021 % ARTE is distributed in the hope that it will be useful,
0022 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0023 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0024 % GNU Lesser General Public License for more details.
0025 %
0026 % You should have received a copy of the GNU Leser General Public License
0027 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0028 function robot = parameters()
0029 
0030 robot.name= 'BUMPER CUTTING MACHINE';
0031 
0032 robot.DH.theta= '[]';
0033 robot.DH.d='[]';
0034 robot.DH.a='[]';
0035 robot.DH.alpha= '[]';
0036 robot.J=[];
0037 
0038 
0039 robot.inversekinematic_fn = '';
0040 
0041 %number of degrees of freedom
0042 robot.DOF = 0;
0043 
0044 %rotational: 0, translational: 1
0045 robot.kind=[];
0046 
0047 %minimum and maximum rotation angle in rad
0048 robot.maxangle =[]; %Axis 6: Unlimited (800º default)
0049 
0050 %maximum absolute speed of each joint rad/s or m/s
0051 robot.velmax = [];%Axis 6, rad/s
0052 % end effectors maximum velocity
0053 robot.linear_velmax = 0; %m/s
0054 
0055 %base reference system
0056 %robot.T0 = eye(4);
0057 %center to the robot base
0058 robot.T0=   [1 0 0 -0.05;
0059              0 1 0 -0.27;
0060              0 0 1 -0.6;
0061              0 0 0 1];
0062 
0063 %definition of the tool center point with respect to the last reference
0064 %system.
0065 %for tools, this TCP usually means the transformation from system
0066 %(X_tool0,Y_tool0,Z_tool0) to (X_tool1,Y_tool1,Z_tool1)
0067 robot.TCP = [1 0 0 0;
0068              0 1 0 0;
0069              0 0 1 0;
0070              0 0 0 1]; 
0071 
0072 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0073 %position, velocity and acceleration
0074 robot=init_sim_variables(robot);
0075 robot.path = pwd;
0076 
0077 % GRAPHICS
0078 robot.graphical.has_graphics=1;
0079 robot.graphical.color = [40 45 40]./255;
0080 %for transparency
0081 robot.graphical.draw_transparent=0;
0082 %draw DH systems
0083 robot.graphical.draw_axes=1;
0084 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0085 %bigger robots
0086 robot.graphical.axes_scale=1;
0087 %adjust for a default view of the robot
0088 robot.axis=[-0.75 0.75 -0.75 0.75 0 1.2];
0089 %read graphics files
0090 robot = read_graphics(robot);
0091 
0092 %DYNAMICS
0093 robot.has_dynamics=0;