parameters

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   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.equipment=load_robot('example/Delta/base_plate');

   Author: Ángel Rodríguez 
   email: arodgre@gmail.com date:   18/12/2013
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

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.equipment=load_robot('example/Delta/base_plate');
0007 %
0008 %   Author: Ángel Rodríguez
0009 %   email: arodgre@gmail.com date:   18/12/2013
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= 'Delta´s base';
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 
0058 %definition of the tool center point with respect to the last reference
0059 %system.
0060 %for tools, this TCP usually means the transformation from system
0061 %(X_tool0,Y_tool0,Z_tool0) to (X_tool1,Y_tool1,Z_tool1)
0062 robot.TCP = [1 0 0 0;
0063              0 1 0 0;
0064              0 0 1 0;
0065              0 0 0 1]; 
0066 
0067 %INITIALIZATION OF VARIABLES REQUIRED FOR THE SIMULATION
0068 %position, velocity and acceleration
0069 robot=init_sim_variables(robot);
0070 robot.path = pwd;
0071 
0072 
0073 % GRAPHICS
0074 robot.graphical.has_graphics=1;
0075 robot.graphical.color = [167 182 177]./255;
0076 %for transparency
0077 robot.graphical.draw_transparent=0;
0078 %draw DH systems
0079 robot.graphical.draw_axes=1;
0080 %DH system length and Font size, standard is 1/10. Select 2/20, 3/30 for
0081 %bigger robots
0082 robot.graphical.axes_scale=1;
0083 
0084 %adjust for a default view of the robot
0085 robot.axis=[-0.75 0.75 -0.75 0.75 0 1.2];
0086 %read graphics files
0087 robot = read_graphics(robot);
0088 
0089 %DYNAMICS
0090 robot.has_dynamics=0;