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44 lines
1.4 KiB
44 lines
1.4 KiB
%MDL_KR5 Create model of Kuka KR5 manipulator
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%
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% MDL_KR5 is a script that creates the workspace variable mico which
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% describes the kinematic characteristics of a Kuka KR5 manipulator using
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% standard DH conventions.
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%
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% Also define the workspace vectors:
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% qk1 nominal working position 1
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% qk2 nominal working position 2
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% qk3 nominal working position 3
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%
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% Notes::
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% - SI units of metres are used.
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% - Includes 11.5cm tool in the z-direction
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%
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% Author::
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% - Gautam sinha
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% Indian Institute of Technology, Kanpur.
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%
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% See also SerialLink, mdl_irb140, mdl_fanuc10l, mdl_motomanHP6, mdl_S4ABB2p8, mdl_puma560.
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% MODEL: Kuka, KR5, 6DOF, standard_DH
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%mdl_KR5
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%Define simplest line model for KUKA KR5 robot
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%Contain DH parameters for KUKA KR5 robot
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%All link lenghts and offsets are measured in cm
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clear L
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% theta d a alpha
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L(1) = Link([0 0.4 0.18 pi/2]);
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L(2) = Link([0 0.135 0.60 pi]);
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L(3) = Link([0 0.135 0.12 -pi/2]);
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L(4) = Link([0 0.62 0 pi/2]);
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L(5) = Link([0 0 0 -pi/2]);
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L(6) = Link([0 0 0 0]);
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KR5=SerialLink(L, 'name', 'Kuka KR5');
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KR5.tool=transl(0,0,0.115);
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KR5.ikineType = 'kr5';
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KR5.model3d = 'KUKA/KR5_arc';
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qk1=[pi/4 pi/3 pi/4 pi/6 pi/4 pi/6];
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qk2=[pi/4 pi/3 pi/6 pi/3 pi/4 pi/6];
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qk3=[pi/6 pi/3 pi/6 pi/3 pi/6 pi/3];
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