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53 lines
1.9 KiB
53 lines
1.9 KiB
%MDL_MotomanHP6 Create kinematic data of a Motoman HP6 manipulator
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%
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% mdl_motomanHP6
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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 Motoman HP6 manipulator
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% using standard 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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%Motoman HP robot
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%##########################################################
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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 0.57 -pi 0]);
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L(3) = Link([ 0 0 0.155 -pi/2 0]);
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L(4) = Link([ 0 -0.635 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 -0.095 0 pi 0]);
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%##########################################################
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%Pose 0; At ZERO position
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%##########################################################
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q0 =[0 -pi/2 0 0 -pi/2 0];
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R=SerialLink(L, 'name', 'Motoman HP6');
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%##########################################################
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