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100 lines
2.9 KiB
100 lines
2.9 KiB
%MDL_PUMA560AKB Create model of Puma 560 manipulator
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%
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% mdl_puma560akb
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%
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% Script creates the workspace variable p560m which describes the
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% kinematic and dynamic characterstics of a Unimation Puma 560 manipulator
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% modified DH conventions.
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%
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% Also defines 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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%
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% References::
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% - "The Explicit Dynamic Model and Inertial Parameters of the Puma 560 Arm"
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% Armstrong, Khatib and Burdick
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% 1986
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%
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% See also SerialLink, mdl_puma560, 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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clear L
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% theta d a alpha
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L(1) = Link([ 0 0 0 0 0], 'mod');
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L(2) = Link([ 0 0.2435 0 -pi/2 0], 'mod');
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L(3) = Link([ 0 -0.0934 0.4318 0 0], 'mod');
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L(4) = Link([ 0 0.4331 -0.0203 pi/2 0], 'mod');
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L(5) = Link([ 0 0 0 -pi/2 0], 'mod');
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L(6) = Link([ 0 0 0 pi/2 0], 'mod');
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L(1).m = 0;
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L(2).m = 17.4;
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L(3).m = 4.8;
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L(4).m = 0.82;
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L(5).m = 0.34;
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L(6).m = .09;
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% rx ry rz
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L(1).r = [0 0 0 ];
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L(2).r = [0.068 0.006 -0.016];
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L(3).r = [0 -0.070 0.014 ];
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L(4).r = [0 0 -0.019];
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L(5).r = [0 0 0 ];
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L(6).r = [0 0 .032 ];
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% Ixx Iyy Izz Ixy Iyz Ixz
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L(1).I = [0 0 0.35 0 0 0];
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L(2).I = [.13 .524 .539 0 0 0];
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L(3).I = [.066 .0125 .066 0 0 0];
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L(4).I = [1.8e-3 1.8e-3 1.3e-3 0 0 0];
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L(5).I = [.3e-3 .3e-3 .4e-3 0 0 0];
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L(6).I = [.15e-3 .15e-3 .04e-3 0 0 0];
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L(1).Jm = 291e-6;
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L(2).Jm = 409e-6;
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L(3).Jm = 299e-6;
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L(4).Jm = 35e-6;
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L(5).Jm = 35e-6;
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L(6).Jm = 35e-6;
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L(1).G = -62.6111;
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L(2).G = 107.815;
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L(3).G = -53.7063;
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L(4).G = 76.0364;
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L(5).G = 71.923;
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L(6).G = 76.686;
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% viscous friction (motor referenced)
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% unknown
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% Coulomb friction (motor referenced)
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% unknown
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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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qstretch = [0 0 pi/2 0 0 0]; % horizontal along x-axis
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p560m = SerialLink(L, 'name', 'Puma560-AKB', 'manufacturer', 'Unimation', 'comment', 'AK&B');
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clear L
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