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44 lines
1.5 KiB
44 lines
1.5 KiB
%MDL_P8 Create model of Puma robot on an XY base
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%
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% mdl_p8
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%
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% Script creates the workspace variable p8 which is an 8-axis robot
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% comprising a Puma 560 robot on an XY base. Joints 1 and 2 are the base,
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% joints 3-8 are the robot arm.
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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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% 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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% See also SerialLink, mdl_puma560.
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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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% create the base
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platform = SerialLink( [0 0 0 -pi/2 1; -pi/2 0 0 pi/2 1], ...
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'base', troty(pi/2), 'name', 'platform' );
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% load the standard Puma
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mdl_puma560;
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% add the pedestal height to link 1
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p560.links(1).d = 30 * 0.0254;
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% compose the two robots
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p8 = SerialLink( [platform, p560], 'name', 'P8');
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