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94 lines
3.0 KiB
94 lines
3.0 KiB
%MDL_IR140 Create model of the ABB IRB 140 manipulator
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%
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% mdl_irb140_mod
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%
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% Script creates the workspace variable irb which describes the
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% kinematic characteristics of an ABB IRB 140 manipulator using
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% modified 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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%
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% Reference::
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% - ABB IRB 140 data sheet
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% - "THE MODELING OF A SIX DEGREE-OF-FREEDOM INDUSTRIAL ROBOT FOR
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% THE PURPOSE OF EFFICIENT PATH PLANNING"
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% Master of Science Thesis, Penn State U, May 2009
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% Tyler Carter
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%
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% See also SerialLink, mdl_irb140, mdl_puma560, mdl_stanford, mdl_twolink.
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%
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% Notes::
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% - SI units of metres are used.
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% - The tool frame is in the centre of the tool flange.
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% - Zero angle configuration has the upper arm vertical and lower arm
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% horizontal.
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% MODEL: ABB, IRB140, 6DOF, modified_DH
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% Reference::
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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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clear L
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% joint angle limits from
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% A combined optimization method for solving the inverse kinematics problem...
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% Wang & Chen
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% IEEE Trans. RA 7(4) 1991 pp 489-
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L(1) = Revolute('d', 0.352, 'a', 0, 'alpha', 0, 'offset', 0, 'modified');
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L(2) = Revolute('d', 0, 'a', 0.070, 'alpha', pi/2, 'offset', 0, 'modified');
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L(3) = Revolute('d', 0, 'a', 0.360, 'alpha', 0, 'offset', 0, 'modified');
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L(4) = Revolute('d', 0.380, 'a', 0, 'alpha', pi/2, 'offset', 0, 'modified');
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L(5) = Revolute('d', 0, 'a', 0, 'alpha', -pi/2, 'offset', 0, 'modified');
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L(6) = Revolute('d', 0, 'a', 0, 'alpha', pi/2, 'offset', 0, 'modified');
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L(1).m = 34655.36e-3;
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L(1).r = [27.87 43.12 -89.03]*1e-3;
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L(1).I = [
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512052539.74 1361335.88 51305020.72
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1361335.88 464074688.59 70335556.04
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51305020.72 70335556.04 462745526.12]*1e-9;
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L(2).m = 15994.59e-3;
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L(2).r = [ 198.29 9.73 92.43]*1e03;
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L(2).I = [
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94817914.40 -3859712.77 37932017.01
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-3859712.77 328604163.24 -1088970.86
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37932017.01 -1088970.86 277463004.88]*1e-9;
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L(3).m = 20862.05e-3;
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L(3).r = [ -4.56 -79.96 -5.86];
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L(3).I = [
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500060915.95 -1863252.17 934875.78
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-1863252.17 75152670.69 -15204130.09
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934875.78 -15204130.09 515424754.34]*1e-9;
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irb = SerialLink(L, 'name', 'IRB 140', ...
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'manufacturer', 'ABB', 'comment', 'modified DH');
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%
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% some useful poses
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%
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qz = [0 0 0 0 0 0]; % zero angles, L shaped pose
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clear L
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