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60 lines
1.9 KiB
60 lines
1.9 KiB
%MDL_STANFORD_MDH Create model of Stanford arm using MDH conventions
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%
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% mdl_stanford_mdh
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%
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% Script creates the workspace variable stanf which describes the
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% kinematic and dynamic characteristics of the Stanford (Scheinman) arm
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% using modified Denavit-Hartenberg parameters.
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%
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% Also defines the vectors:
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% qz zero joint angle configuration.
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%
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% Notes::
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% - SI units are used.
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%
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% References::
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% - Kinematic data from "Modelling, Trajectory calculation and Servoing of
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% a computer controlled arm". Stanford AIM-177. Figure 2.3
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% - Dynamic data from "Robot manipulators: mathematics, programming and control"
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% Paul 1981, Tables 6.5, 6.6
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%
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% See also SerialLink, mdl_puma560, mdl_puma560akb.
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% MODEL: Stanford, Stanford arm, prismatic, 6DOF, modified_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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clear L
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qz = [0 0 0 0 0 0];
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stanf = SerialLink([
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RevoluteMDH('d', 0.412)
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RevoluteMDH('d', 0.154, 'alpha', -pi/2)
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PrismaticMDH('alpha', pi/2, 'qlim', [0.2032 0.9144])
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RevoluteMDH()
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RevoluteMDH('alpha', -pi/2)
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RevoluteMDH('d', 0.263, 'alpha', pi/2)
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], ...
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'name', 'Stanford arm MDH', ...
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'plotopt', {'workspace', [-2 2 -2 2 -2 2]} ...
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);
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