parameters

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   PARAMETERS Returns a data structure containing the parameters of the
   example 2 DOF planar robot.

   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche. 
   email: arturo.gil@umh.es date:   03/03/2012
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0001 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0002 %   PARAMETERS Returns a data structure containing the parameters of the
0003 %   example 2 DOF planar robot.
0004 %
0005 %   Author: Arturo Gil. Universidad Miguel Hern�ndez de Elche.
0006 %   email: arturo.gil@umh.es date:   03/03/2012
0007 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0008 
0009 % Copyright (C) 2012, by Arturo Gil Aparicio
0010 %
0011 % This file is part of ARTE (A Robotics Toolbox for Education).
0012 %
0013 % ARTE is free software: you can redistribute it and/or modify
0014 % it under the terms of the GNU Lesser General Public License as published by
0015 % the Free Software Foundation, either version 3 of the License, or
0016 % (at your option) any later version.
0017 %
0018 % ARTE is distributed in the hope that it will be useful,
0019 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0020 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0021 % GNU Lesser General Public License for more details.
0022 %
0023 % You should have received a copy of the GNU Leser General Public License
0024 % along with ARTE.  If not, see <http://www.gnu.org/licenses/>.
0025 function robot = parameters()
0026 
0027 robot.name='Example 1DOF planar arm';
0028 
0029 %kinematic data DH parameters
0030 robot.DH.theta='[q(1)]';
0031 robot.DH.d='[0]';
0032 robot.DH.a='[1]';
0033 robot.DH.alpha='[0]';
0034 
0035 %number of degrees of freedom
0036 robot.DOF = 1;
0037 
0038 %rotational: R, translational: T
0039 robot.kind=['R'];
0040 
0041 %Jacobian matrix
0042 robot.J=[];
0043 
0044 
0045 %Function name to compute inverse kinematic
0046 robot.inversekinematic_fn = 'inversekinematic_1dofplanar(robot, T)';
0047 robot.directkinematic_fn = 'directkinematic(robot, q)';
0048 
0049 %minimum and maximum rotation angle in rad
0050 robot.maxangle =[deg2rad(-180) deg2rad(180)];%deg2rad(-180) deg2rad(180)]; %Axis 2, minimum, maximum
0051                 
0052 %maximum absolute speed of each joint rad/s or m/s
0053 robot.velmax = []; %empty, not available
0054 
0055 robot.accelmax=robot.velmax/0.1; % 0.1 is here an acceleration time
0056 
0057 % end effectors maximum velocity
0058 robot.linear_velmax = 0; %m/s, example, not available
0059 
0060 
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 robot.path = pwd;
0068 
0069 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0070 %GRAPHICS
0071 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0072 %read graphics files
0073 robot.graphical.has_graphics=1;
0074 robot.graphical.color = [25 20 40];
0075 %for transparency
0076 robot.graphical.draw_transparent=0;
0077 %draw DH systems
0078 robot.graphical.draw_axes=1;
0079 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0080 %bigger robots
0081 robot.graphical.axes_scale=1;
0082 %adjust for a default view of the robot
0083 robot.axis=[-2.2 2.2 -2.2 2.2 0 2.2]
0084 robot = read_graphics(robot);
0085 
0086 
0087 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0088 %position, velocity and acceleration
0089 robot.q=[0 ]';
0090 robot.qd=[0 ]';
0091 robot.qdd=[0 ]';
0092 robot.time = [];
0093 
0094 robot.q_vector=[];
0095 robot.qd_vector=[];
0096 robot.qdd_vector=[];
0097 
0098 
0099 robot.last_target=directkinematic(robot, robot.q);
0100 robot.last_zone_data = 'fine';
0101 
0102 
0103 
0104 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0105 % DYNAMIC PARAMETERS
0106 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
0107 robot.has_dynamics=1;
0108 
0109 %consider friction or not
0110 robot.dynamics.friction=0;
0111 
0112 %link masses (kg)
0113 robot.dynamics.masses=[1];
0114 
0115 %COM of each link with respect to own reference system
0116 robot.dynamics.r_com=[-0.5      0         0 ];%(rx, ry, rz) link 2
0117 
0118 %link masses
0119 m1 = robot.dynamics.masses(1);
0120 %m2 = robot.dynamics.masses(2);
0121 
0122 L1 = robot.DH.a(1);
0123 %L2 = robot.DH.a(2);
0124 
0125 
0126 %Inertia matrices of each link
0127 % Ixx    Iyy    Izz    Ixy    Iyz    Ixz, or each row
0128 robot.dynamics.Inertia=[0   0   m1*L1/3    0    0    0];
0129 
0130 
0131 %Inertia of the rotor
0132 robot.motors.Inertia=[0 ];
0133 %Reduction ration motor/joint speed
0134 robot.motors.G=[1];
0135 
0136 
0137 %Viscous friction factor of the motor
0138 robot.motors.Viscous = [0 ];
0139 %Coulomb friction of the motor
0140 %Tc+, Tc-
0141 robot.motors.Coulomb = [0    0   ];
0142         
0143 %Obtained from motor catalog under practicals/inverse_dynamics
0144 %                        R(Ohm)  L(H)      Kv (V/rad/s):speed constant     Kp (Nm/A):torque constant        Max_current (A)
0145 robot.motors.constants=[0.345  0.273e-3       2.3474e-05               84.9e-3                 139];%these correspond to Maxon, 167132;
0146 
0147 
0148 %robot.motors=load_motors([5 5 5 4 4 4]);
0149 %Speed reductor at each joint
0150 %robot.motors.G=[300 300 300 300 300 300];
0151 
0152         
0153         
0154