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62 lines
2.1 KiB
62 lines
2.1 KiB
%MDL_SIMPLE6 A minimalistic 6DOF robot arm
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%
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% MDL_SIMPLE6 is a script creates the workspace variable s6 which describes
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% the kinematic characteristics of a simple arm manipulator with a
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% spherical wrist and no shoulder offset, 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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%
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% Notes::
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% - Unlike most other mdl_xxx scripts this one is actually a function that
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% behaves like a script and writes to the global workspace.
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%
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% See also SerialLink, mdl_offset6, mdl_puma560.
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% MODEL: generic, 6DOF, standard_DH
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% Copyright (C) 1993-2015, 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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%
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% http://www.petercorke.com
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function r = mdl_simple6()
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% robot length values (metres)
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L1 = 1;
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L2 = 1;
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% and build a serial link manipulator
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robot = SerialLink([
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Revolute('alpha', pi/2, 'a', 0, 'd', 0)
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Revolute('alpha', 0, 'a', L1, 'd', 0)
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Revolute('alpha', -pi/2, 'a', L2, 'd', 0)
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Revolute('alpha', -pi/2, 'a', 0, 'd', 0)
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Revolute('alpha', pi/2, 'a', 0, 'd', 0)
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Revolute('alpha', 0, 'a', 0, 'd', 0)
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], ...
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'name', 'Simple6');
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% place the variables into the global workspace
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if nargout == 1
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r = robot;
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elseif nargout == 0
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assignin('base', 's6', robot);
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assignin('base', 'qz', [0 0 0 0 0 0]); % zero angles, arm up
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end
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end
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