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52 lines
1.9 KiB
52 lines
1.9 KiB
%MDL_FANUC10L Create kinematic model of Fanuc AM120iB/10L robot
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%
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% mdl_fanuc10L
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%
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% Script creates the workspace variable R which describes the
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% kinematic characteristics of a Fanuc AM120iB/10L robot using standard
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% DH conventions.
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%
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% Also defines the workspace vector:
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% q0 mastering position.
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%
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% Author::
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% Wynand Swart,
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% Mega Robots CC, P/O Box 8412, Pretoria, 0001, South Africa
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% wynand.swart@gmail.com
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%
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% See also SerialLink, mdl_puma560akb, mdl_stanford, mdl_twolink.
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% Copyright (C) 1993-2011, 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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%Cell: 073-1555-430
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%30 Sep 2007
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%Fanuc AM120iB/10L robot
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% theta d a alpha
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L(1) = Link([0 0 0.15 -pi/2 0 ]);
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L(2) = Link([0 0 0.77 pi 0 ]);
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L(3) = Link([0 0 0.1 -pi/2 0 ]);
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L(4) = Link([0 -0.96 0 pi/2 0 ]);
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L(5) = Link([0 0 0 -pi/2 0 ]);
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L(6) = Link([0 -0.1 0 0 0 ]);
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%##########################################################
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%Pose 0; At MASTERING position;
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%##########################################################
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q0 =[0 -pi/2 0 0 0 0];
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R=SerialLink(L, 'name', 'Fanuc AM120iB/10L');
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%##########################################################
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