%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% PARAMETERS Returns a data structure containing the parameters of a spot welding tool. Tooldata in RAPID: PERS tooldata welder:=[TRUE,[[0,0,425],[1,0,0,0]],[2.5,[0,0,200],[1,0,0,0],0.5,0.5,0.5]]; Specify the tooldata as a Matlab vector welder=[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: 09/12/2012 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0002 % PARAMETERS Returns a data structure containing the parameters of a 0003 % spot welding tool. 0004 % 0005 % Tooldata in RAPID: 0006 % PERS tooldata welder:=[TRUE,[[0,0,425],[1,0,0,0]],[2.5,[0,0,200],[1,0,0,0],0.5,0.5,0.5]]; 0007 % 0008 % Specify the tooldata as a Matlab vector 0009 % welder=[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]]; 0010 % 0011 % Author: Arturo Gil. Universidad Miguel Hernández de Elche. 0012 % email: arturo.gil@umh.es date: 09/12/2012 0013 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 0014 0015 % Copyright (C) 2012, by Arturo Gil Aparicio 0016 % 0017 % This file is part of ARTE (A Robotics Toolbox for Education). 0018 % 0019 % ARTE is free software: you can redistribute it and/or modify 0020 % it under the terms of the GNU Lesser General Public License as published by 0021 % the Free Software Foundation, either version 3 of the License, or 0022 % (at your option) any later version. 0023 % 0024 % ARTE is distributed in the hope that it will be useful, 0025 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0026 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0027 % GNU Lesser General Public License for more details. 0028 % 0029 % You should have received a copy of the GNU Leser General Public License 0030 % along with ARTE. If not, see <http://www.gnu.org/licenses/>. 0031 function robot = parameters() 0032 0033 robot.name= 'SPOT WELDING END TOOL'; 0034 0035 %Path where everything is stored for this robot 0036 robot.path = 'robots/end_tools/spot_welding'; 0037 0038 robot.DH.theta= '[-q(1) ]'; 0039 robot.DH.d='[0.225 ]'; 0040 robot.DH.a='[0.075]'; 0041 robot.DH.alpha= '[-pi/2]'; 0042 robot.J=[]; 0043 0044 0045 robot.inversekinematic_fn = ''; 0046 0047 %number of degrees of freedom 0048 robot.DOF = 1; 0049 0050 %rotational: 0, translational: 1 0051 robot.kind=[]; 0052 0053 %minimum and maximum rotation angle in rad 0054 robot.maxangle =[]; %Axis 6: Unlimited (800º default) 0055 0056 %maximum absolute speed of each joint rad/s or m/s 0057 robot.velmax = [];%Axis 6, rad/s 0058 % end effectors maximum velocity 0059 robot.linear_velmax = 0; %m/s 0060 0061 %base reference system 0062 robot.T0 = eye(4); 0063 0064 %definition of the tool center point with respect to the last reference 0065 %system. 0066 %for tools, this TCP usually means the transformation from system 0067 %(X_tool0,Y_tool0,Z_tool0) to (X_tool1,Y_tool1,Z_tool1) 0068 robot.TCP = [1 0 0 0; 0069 0 1 0 0; 0070 0 0 1 0.425; 0071 0 0 0 1]; 0072 0073 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION 0074 %position, velocity and acceleration 0075 robot=init_sim_variables(robot); 0076 robot.path = pwd; 0077 0078 %needed by the simulation. Consider that the piece is not yet gripped (gripped = 0) 0079 robot.piece_gripped=0; 0080 %consider that the tool is closed (open=0) 0081 robot.tool_open=0; 0082 0083 % GRAPHICS 0084 robot.graphical.has_graphics=1; 0085 robot.graphical.color = [100 102 100]./255; 0086 %for transparency 0087 robot.graphical.draw_transparent=0; 0088 %draw DH systems 0089 robot.graphical.draw_axes=1; 0090 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for 0091 %bigger robots 0092 robot.graphical.axes_scale=1; 0093 %adjust for a default view of the robot 0094 robot.axis=[-0.75 0.75 -0.75 0.75 0 1.2]; 0095 %read graphics files 0096 robot = read_graphics(robot); 0097 0098 %DYNAMICS 0099 robot.has_dynamics=0;