parameters

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   PARAMETERS Returns a data structure containing the parameters of the
   vacuum tool.
   PERS tooldata gripper:=[TRUE,[[0,0,425],[1,0,0,0]],[2.5,[0,0,200],[1,0,0,0],0.5,0.5,0.5]];
   gripper=[TRUE,[[0,0,0.425],[1,0,0,0]],[2.5,[0,0,0.200],[1,0,0,0],0.5,0.5,0.5]];
   Author: Arturo Gil. Universidad Miguel Hernández de Elche. 
   email: arturo.gil@umh.es date:   09/01/2012
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   vacuum tool.
0004 %   PERS tooldata gripper:=[TRUE,[[0,0,425],[1,0,0,0]],[2.5,[0,0,200],[1,0,0,0],0.5,0.5,0.5]];
0005 %   gripper=[TRUE,[[0,0,0.425],[1,0,0,0]],[2.5,[0,0,0.200],[1,0,0,0],0.5,0.5,0.5]];
0006 %   Author: Arturo Gil. Universidad Miguel Hernández de Elche.
0007 %   email: arturo.gil@umh.es date:   09/01/2012
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.name= 'PARALLEL GRIPPER 0';
0029 
0030 
0031 
0032 robot.DH.theta= '[pi/2 0]';
0033 robot.DH.d='[0.1 0]';
0034 %robot.DH.a='[-0.03*robot.tool_activated-0.03 0.06*robot.tool_activated+0.06]';
0035 robot.DH.a='[-q(1)*0.04-0.005 q(2)*0.08+0.005]';
0036 robot.DH.alpha= '[pi/2 0]';
0037 robot.J=[];
0038 
0039 
0040 robot.inversekinematic_fn = '';
0041 
0042 %number of degrees of freedom
0043 robot.DOF = 2;
0044 
0045 %rotational: 0, translational: 1
0046 robot.kind=[];
0047 
0048 %minimum and maximum rotation angle in rad
0049 robot.maxangle =[]; %Axis 6: Unlimited (800º default)
0050 
0051 %maximum absolute speed of each joint rad/s or m/s
0052 robot.velmax = [];%Axis 6, rad/s
0053 % end effectors maximum velocity
0054 robot.linear_velmax = 0; %m/s
0055 
0056 %base reference system
0057 robot.T0 = eye(4);
0058 robot.Trel = eye(4);
0059 
0060 %definition of the tool center point with respect to the last reference
0061 %system.
0062 %for tools, this TCP usually means the transformation from system
0063 %(X_tool0,Y_tool0,Z_tool0) to (X_tool1,Y_tool1,Z_tool1)
0064 robot.TCP = [1 0 0 0;
0065              0 1 0 0;
0066              0 0 1 0.125;
0067              0 0 0 1]; 
0068 
0069 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0070 %position, velocity and acceleration
0071 robot=init_sim_variables(robot);
0072 robot.path = pwd;
0073 
0074 %needed by the simulation. Consider that the piece is not yet gripped (gripped = 0)
0075 robot.piece_gripped=0;
0076 %consider that the tool is closed (open=0)
0077 robot.tool_open=0;
0078 
0079 % GRAPHICS
0080 robot.graphical.has_graphics=1;
0081 robot.graphical.color = [100 102 100]./255;
0082 %for transparency
0083 robot.graphical.draw_transparent=0;
0084 %draw DH systems
0085 robot.graphical.draw_axes=1;
0086 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0087 %bigger robots
0088 robot.graphical.axes_scale=1;
0089 %adjust for a default view of the robot
0090 robot.axis=[-0.75 0.75 -0.75 0.75 0 1.2];
0091 %read graphics files
0092 robot = read_graphics(robot);
0093 
0094 %DYNAMICS
0095 robot.has_dynamics=0;