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50 lines
1.8 KiB
50 lines
1.8 KiB
%MDL_BAXTER Kinematic model of Baxter dual-arm robot
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%
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% MDL_BAXTER is a script that creates the workspace variables LEFT and
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% RIGHT which describes the kinematic characteristics of the two arms of a
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% Rethink Robotics Baxter robot 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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% qd lower arm horizontal as per data sheet
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%
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% Notes::
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% - SI units of metres are used.
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%
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% References::
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% "Kinematics Modeling and Experimental Verification of Baxter Robot"
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% Z. Ju, C. Yang, H. Ma, Chinese Control Conf, 2015.
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%
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% See also SerialLink, mdl_nao.
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% MODEL: Baxter, Rethink Robotics, 7DOF, standard_DH
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% th d a alpha
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L(1) = Revolute('d', 0.27, 'a', 0.069, 'alpha', -pi/2);
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L(2) = Revolute('d', 0, 'a', 0, 'alpha', pi/2, 'offset', pi/2);
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L(3) = Revolute('d', 0.102+0.262, 'a', 0.069, 'alpha', -pi/2);
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L(4) = Revolute('d', 0, 'a', 0, 'alpha', pi/2);
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L(5) = Revolute('d', 0.103+0.271, 'a', 0.010, 'alpha', -pi/2);
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L(6) = Revolute('d', 0, 'a', 0, 'alpha', pi/2);
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L(7) = Revolute('d', 0.28, 'a', 0, 'alpha', 0);
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left = SerialLink(L, 'name', 'Baxter LEFT');
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right = SerialLink(L, 'name', 'Baxter RIGHT');
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left.base = transl(0.064614, 0.25858, 0.119)*rpy2tr(0, 0, pi/4);
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right.base = transl(0.063534, -0.25966, 0.119)*rpy2tr(0, 0, -pi/4);
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% 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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% qstretch arm is stretched out in the X direction
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% qn arm is at a nominal non-singular configuration
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%
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qz = [0 0 0 0 0 0 0]; % zero angles, L shaped pose
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qr = [0 -pi/2 -pi/2 0 0 0 0]; % ready pose, arm up
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qs = [0 0 -pi/2 0 0 0 0];
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qn = [0 pi/4 pi/2 0 pi/4 0 0];
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