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35 lines
1.1 KiB
35 lines
1.1 KiB
%MDL_PHANTOMX Create model of PhantomX pincher manipulator
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%
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% mdl_phantomx
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%
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% Script creates the workspace variable px which describes the
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% kinematic characteristics of a PhantomX Pincher Robot, a 4 joint hobby
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% class manipulator by Trossen Robotics.
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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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% Notes::
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% - the x-axis is forward, and the z-axis is upwards.
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% - uses standard DH conventions.
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% - Tool centrepoint is middle of the fingertips.
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% - all translational units in mm.
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%
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% Reference::
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%
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% - http://www.trossenrobotics.com/productdocs/assemblyguides/phantomx-basic-robot-arm.html
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L(1) = Revolute('d', 40, 'alpha', -pi/2);
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L(2) = Revolute('a', -105, 'alpha', pi, 'offset', pi/2);
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L(3) = Revolute('a', -105);
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L(4) = Revolute('a', -105);
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% Note alpha_2 = pi, needed to account for rotation axes of joints 3 and 4 having
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% opposite sign to joint 2.
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%
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% s='Rz(q1) Tz(L1) Ry(q2) Tz(L2) Ry(q3) Tz(L3) Ry(q4) Tz(L4)'
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% DHFactor(s)
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px = SerialLink(L, 'name', 'PhantomX', 'manufacturer', 'Trossen Robotics');
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qz = [0 0 0 0];
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px.tool = trotz(-pi/2) * trotx(pi/2);
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