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91 lines
2.8 KiB
91 lines
2.8 KiB
%MDL_JACO Create model of Kinova Jaco manipulator
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%
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% MDL_JACO is a script that creates the workspace variable jaco which
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% describes the kinematic characteristics of a Kinova Jaco 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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%
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% Reference::
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% - "DH Parameters of Jaco" Version 1.0.8, July 25, 2013.
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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_mico, mdl_puma560.
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% MODEL: Kinova, Jaco, 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_jaco()
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deg = pi/180;
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% robot length values (metres)
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D1 = 0.2755;
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D2 = 0.4100;
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D3 = 0.2073;
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D4 = 0.0743;
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D5 = 0.0743;
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D6 = 0.1687;
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e2 = 0.0098;
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% alternate parameters
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aa = 30*deg;
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ca = cos(aa);
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sa = sin(aa);
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c2a = cos(2*aa);
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s2a = sin(2*aa);
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d4b = D3 + sa/s2a*D4;
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d5b = sa/s2a*D4 + sa/s2a*D5;
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d6b = sa/s2a*D5 + D6;
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% and build a serial link manipulator
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% offsets from the table on page 4, "Mico" angles are the passed joint
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% angles. "DH Algo" are the result after adding the joint angle offset.
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robot = SerialLink([
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Revolute('alpha', pi/2, 'a', 0, 'd', D1, 'flip')
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Revolute('alpha', pi, 'a', D2, 'd', 0, 'offset', -pi/2)
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Revolute('alpha', pi/2, 'a', 0, 'd', -e2, 'offset', pi/2)
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Revolute('alpha', 2*aa, 'a', 0, 'd', -d4b)
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Revolute('alpha', 2*aa, 'a', 0, 'd', -d5b, 'offset', -pi)
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Revolute('alpha', pi, 'a', 0, 'd', -d6b, 'offset', 100*deg)
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], ...
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'name', 'Jaco', 'manufacturer', 'Kinova');
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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', 'jaco', robot);
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assignin('base', 'qz', [0 0 0 0 0 0]); % zero angles
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assignin('base', 'qr', [270 180 180 0 0 0]*deg); % vertical pose as per Fig 2
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end
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end
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