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83 lines
2.6 KiB
83 lines
2.6 KiB
%MDL_IRB140 Create model of ABB IRB 140 manipulator
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%
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% MDL_IRB140 is a script that creates the workspace variable robot which
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% describes the kinematic characteristics of an ABB IRB 140 manipulator
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% using standard DH conventions.
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%
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% Also define the workspace vectors:
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% qz zero joint angle configuration
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% qr vertical 'READY' configuration
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% qd lower arm horizontal as per data sheet
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%
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% Reference::
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% - "IRB 140 data sheet", ABB Robotics.
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% - "Utilizing the Functional Work Space Evaluation Tool for Assessing a
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% System Design and Reconfiguration Alternatives"
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% A. Djuric and R. J. Urbanic
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%
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% Notes::
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% - SI units of metres are used.
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% - Unlike most other mdl_xxx scripts this one is actually a function that
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% behaves like a script and writes to the global workspace.
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%
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% See also SerialLink, mdl_fanuc10l, mdl_m16, mdl_motormanHP6, mdl_S4ABB2p8, mdl_puma560.
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% MODEL: ABB, IRB140, 6DOF, standard_DH
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% Copyright (C) 1993-2015, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function r = mdl_irb140()
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deg = pi/180;
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% robot length values (metres)
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d1 = 0.352;
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a1 = 0.070;
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a2 = 0.360;
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d4 = 0.380;
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d6 = 0.065;
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% DH parameter table
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% theta d a alpha
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dh = [0 d1 a1 -pi/2
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0 0 a2 0
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0 0 0 pi/2
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0 d4 0 -pi/2
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0 0 0 pi/2
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0 d6 0 pi/2];
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% and build a serial link manipulator
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robot = SerialLink(dh, 'name', 'IRB 140', ...
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'manufacturer', 'ABB', 'ikine', 'nooffset');
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% place the variables into the global workspace
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if nargin == 1
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r = robot;
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elseif nargin == 0
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assignin('base', 'irb140', robot);
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assignin('base', 'qz', [0 0 0 0 0 0]); % zero angles
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assignin('base', 'qd', [0 -90 180 0 0 -90]*deg); % data sheet pose, horizontal
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assignin('base', 'qr', [0 -90 90 0 90 -90]*deg); % ready pose, arm up
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end
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end
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