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148 lines
4.7 KiB
148 lines
4.7 KiB
%MDL_PUMA560 Create model of Puma 560 manipulator
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%
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% mdl_puma560
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%
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% Script creates the workspace variable p560 which describes the
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% kinematic and dynamic characteristics of a Unimation Puma 560 manipulator
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% using standard DH conventions.
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% The model includes armature inertia and gear ratios.
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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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% Reference::
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% - "A search for consensus among model parameters reported for the PUMA 560 robot",
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% P. Corke and B. Armstrong-Helouvry,
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% Proc. IEEE Int. Conf. Robotics and Automation, (San Diego),
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% pp. 1608-1613, May 1994.
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%
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% See also SerialRevolute, mdl_puma560akb, mdl_stanford, mdl_twolink.
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%
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% Notes:
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% - the value of m1 is given as 0 here. Armstrong found no value for it
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% and it does not appear in the equation for tau1 after the substituion
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% is made to inertia about link frame rather than COG frame.
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% updated:
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% 2/8/95 changed D3 to 150.05mm which is closer to data from Lee, AKB86 and Tarn
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% fixed errors in COG for links 2 and 3
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% 29/1/91 to agree with data from Armstrong etal. Due to their use
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% of modified D&H params, some of the offsets Ai, Di are
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% offset, and for links 3-5 swap Y and Z axes.
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% 14/2/91 to use Paul's value of link twist (alpha) to be consistant
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% with ARCL. This is the -ve of Lee's values, which means the
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% zero angle position is a righty for Paul, and lefty for Lee.
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% Note that gravity load torque is the motor torque necessary
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% to keep the joint static, and is thus -ve of the gravity
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% caused torque.
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%
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% 8/95 fix bugs in COG data for Puma 560. This led to signficant errors in
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% inertia of joint 1.
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% $Log: not supported by cvs2svn $
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% Revision 1.4 2008/04/27 11:36:54 cor134
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% Add nominal (non singular) pose qn
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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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clear L
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deg = pi/180;
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% joint angle limits from
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% A combined optimization method for solving the inverse kinematics problem...
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% Wang & Chen
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% IEEE Trans. RA 7(4) 1991 pp 489-
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L(1) = Revolute('d', 0, 'a', 0, 'alpha', pi/2, ...
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'I', [0, 0.35, 0, 0, 0, 0], ...
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'r', [0, 0, 0], ...
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'm', 0, ...
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'Jm', 200e-6, ...
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'G', -62.6111, ...
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'B', 1.48e-3, ...
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'Tc', [0.395 -0.435], ...
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'qlim', [-160 160]*deg );
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L(2) = Revolute('d', 0, 'a', 0.4318, 'alpha', 0, ...
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'I', [0.13, 0.524, 0.539, 0, 0, 0], ...
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'r', [-0.3638, 0.006, 0.2275], ...
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'm', 17.4, ...
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'Jm', 200e-6, ...
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'G', 107.815, ...
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'B', .817e-3, ...
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'Tc', [0.126 -0.071], ...
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'qlim', [-45 225]*deg );
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L(3) = Revolute('d', 0.15005, 'a', 0.0203, 'alpha', -pi/2, ...
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'I', [0.066, 0.086, 0.0125, 0, 0, 0], ...
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'r', [-0.0203, -0.0141, 0.070], ...
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'm', 4.8, ...
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'Jm', 200e-6, ...
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'G', -53.7063, ...
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'B', 1.38e-3, ...
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'Tc', [0.132, -0.105], ...
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'qlim', [-225 45]*deg );
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L(4) = Revolute('d', 0.4318, 'a', 0, 'alpha', pi/2, ...
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'I', [1.8e-3, 1.3e-3, 1.8e-3, 0, 0, 0], ...
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'r', [0, 0.019, 0], ...
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'm', 0.82, ...
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'Jm', 33e-6, ...
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'G', 76.0364, ...
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'B', 71.2e-6, ...
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'Tc', [11.2e-3, -16.9e-3], ...
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'qlim', [-110 170]*deg);
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L(5) = Revolute('d', 0, 'a', 0, 'alpha', -pi/2, ...
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'I', [0.3e-3, 0.4e-3, 0.3e-3, 0, 0, 0], ...
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'r', [0, 0, 0], ...
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'm', 0.34, ...
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'Jm', 33e-6, ...
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'G', 71.923, ...
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'B', 82.6e-6, ...
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'Tc', [9.26e-3, -14.5e-3], ...
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'qlim', [-100 100]*deg );
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L(6) = Revolute('d', 0, 'a', 0, 'alpha', 0, ...
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'I', [0.15e-3, 0.15e-3, 0.04e-3, 0, 0, 0], ...
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'r', [0, 0, 0.032], ...
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'm', 0.09, ...
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'Jm', 33e-6, ...
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'G', 76.686, ...
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'B', 36.7e-6, ...
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'Tc', [3.96e-3, -10.5e-3], ...
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'qlim', [-266 266]*deg );
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p560 = SerialLink(L, 'name', 'Puma 560', ...
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'manufacturer', 'Unimation', 'comment', 'viscous friction; params of 8/95');
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%
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% some useful poses
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%
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qz = [0 0 0 0 0 0]; % zero angles, L shaped pose
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qr = [0 pi/2 -pi/2 0 0 0]; % ready pose, arm up
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qs = [0 0 -pi/2 0 0 0];
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qn=[0 pi/4 pi 0 pi/4 0];
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clear L
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