%MDL_PUMA560 Create model of Puma 560 manipulator % % mdl_puma560 % % Script creates the workspace variable p560 which describes the % kinematic and dynamic characteristics of a Unimation Puma 560 manipulator % using standard DH conventions. % The model includes armature inertia and gear ratios. % % Also define the workspace vectors: % qz zero joint angle configuration % qr vertical 'READY' configuration % qstretch arm is stretched out in the X direction % qn arm is at a nominal non-singular configuration % % Reference:: % - "A search for consensus among model parameters reported for the PUMA 560 robot", % P. Corke and B. Armstrong-Helouvry, % Proc. IEEE Int. Conf. Robotics and Automation, (San Diego), % pp. 1608-1613, May 1994. % % See also SerialRevolute, mdl_puma560akb, mdl_stanford, mdl_twolink. % % Notes: % - the value of m1 is given as 0 here. Armstrong found no value for it % and it does not appear in the equation for tau1 after the substituion % is made to inertia about link frame rather than COG frame. % updated: % 2/8/95 changed D3 to 150.05mm which is closer to data from Lee, AKB86 and Tarn % fixed errors in COG for links 2 and 3 % 29/1/91 to agree with data from Armstrong etal. Due to their use % of modified D&H params, some of the offsets Ai, Di are % offset, and for links 3-5 swap Y and Z axes. % 14/2/91 to use Paul's value of link twist (alpha) to be consistant % with ARCL. This is the -ve of Lee's values, which means the % zero angle position is a righty for Paul, and lefty for Lee. % Note that gravity load torque is the motor torque necessary % to keep the joint static, and is thus -ve of the gravity % caused torque. % % 8/95 fix bugs in COG data for Puma 560. This led to signficant errors in % inertia of joint 1. % $Log: not supported by cvs2svn $ % Revision 1.4 2008/04/27 11:36:54 cor134 % Add nominal (non singular) pose qn % Copyright (C) 1993-2011, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see . clear L deg = pi/180; % joint angle limits from % A combined optimization method for solving the inverse kinematics problem... % Wang & Chen % IEEE Trans. RA 7(4) 1991 pp 489- L(1) = Revolute('d', 0, 'a', 0, 'alpha', pi/2, ... 'I', [0, 0.35, 0, 0, 0, 0], ... 'r', [0, 0, 0], ... 'm', 0, ... 'Jm', 200e-6, ... 'G', -62.6111, ... 'B', 1.48e-3, ... 'Tc', [0.395 -0.435], ... 'qlim', [-160 160]*deg ); L(2) = Revolute('d', 0, 'a', 0.4318, 'alpha', 0, ... 'I', [0.13, 0.524, 0.539, 0, 0, 0], ... 'r', [-0.3638, 0.006, 0.2275], ... 'm', 17.4, ... 'Jm', 200e-6, ... 'G', 107.815, ... 'B', .817e-3, ... 'Tc', [0.126 -0.071], ... 'qlim', [-45 225]*deg ); L(3) = Revolute('d', 0.15005, 'a', 0.0203, 'alpha', -pi/2, ... 'I', [0.066, 0.086, 0.0125, 0, 0, 0], ... 'r', [-0.0203, -0.0141, 0.070], ... 'm', 4.8, ... 'Jm', 200e-6, ... 'G', -53.7063, ... 'B', 1.38e-3, ... 'Tc', [0.132, -0.105], ... 'qlim', [-225 45]*deg ); L(4) = Revolute('d', 0.4318, 'a', 0, 'alpha', pi/2, ... 'I', [1.8e-3, 1.3e-3, 1.8e-3, 0, 0, 0], ... 'r', [0, 0.019, 0], ... 'm', 0.82, ... 'Jm', 33e-6, ... 'G', 76.0364, ... 'B', 71.2e-6, ... 'Tc', [11.2e-3, -16.9e-3], ... 'qlim', [-110 170]*deg); L(5) = Revolute('d', 0, 'a', 0, 'alpha', -pi/2, ... 'I', [0.3e-3, 0.4e-3, 0.3e-3, 0, 0, 0], ... 'r', [0, 0, 0], ... 'm', 0.34, ... 'Jm', 33e-6, ... 'G', 71.923, ... 'B', 82.6e-6, ... 'Tc', [9.26e-3, -14.5e-3], ... 'qlim', [-100 100]*deg ); L(6) = Revolute('d', 0, 'a', 0, 'alpha', 0, ... 'I', [0.15e-3, 0.15e-3, 0.04e-3, 0, 0, 0], ... 'r', [0, 0, 0.032], ... 'm', 0.09, ... 'Jm', 33e-6, ... 'G', 76.686, ... 'B', 36.7e-6, ... 'Tc', [3.96e-3, -10.5e-3], ... 'qlim', [-266 266]*deg ); p560 = SerialLink(L, 'name', 'Puma 560', ... 'manufacturer', 'Unimation', 'comment', 'viscous friction; params of 8/95'); % % some useful poses % qz = [0 0 0 0 0 0]; % zero angles, L shaped pose qr = [0 pi/2 -pi/2 0 0 0]; % ready pose, arm up qs = [0 0 -pi/2 0 0 0]; qn=[0 pi/4 pi 0 pi/4 0]; clear L