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MotomanHP6

PURPOSE ^

MotomanHP6 Load kinematic data for a Motoman HP6 manipulator

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

MotomanHP6  Load kinematic data for a Motoman HP6 manipulator

    MotomanHP6

 Defines the object 'R' in the current workspace which describes the 
 kinematic characterstics of a Motoman HP6 manipulator
 using standard DH conventions.

 Also define the vector q0 which corresponds to the zero position.

Wynand Swart
Mega Robots CC, P/O Box 8412, Pretoria, 0001, South Africa
Cell: 073-1555-430
wynand.swart@gmail.com
30 Sep 2007
Motoman HP robot

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %MotomanHP6  Load kinematic data for a Motoman HP6 manipulator
0002 %
0003 %    MotomanHP6
0004 %
0005 % Defines the object 'R' in the current workspace which describes the
0006 % kinematic characterstics of a Motoman HP6 manipulator
0007 % using standard DH conventions.
0008 %
0009 % Also define the vector q0 which corresponds to the zero position.
0010 %
0011 %Wynand Swart
0012 %Mega Robots CC, P/O Box 8412, Pretoria, 0001, South Africa
0013 %Cell: 073-1555-430
0014 %wynand.swart@gmail.com
0015 %30 Sep 2007
0016 %Motoman HP robot
0017 
0018 %##########################################################
0019 L1 = link([ -pi/2   0.15     0   0            0]);
0020 L2 = link([ -pi     0.57     0   0            0]);
0021 L3 = link([ -pi/2   0.155    0   0            0]);
0022 L4 = link([  pi/2   0        0   -0.635       0]);
0023 L5 = link([ -pi/2   0        0   0            0]);
0024 L6 = link([  pi     0        0  -0.095        0]);
0025 %##########################################################
0026 %Pose 0; At ZERO position
0027 %##########################################################
0028 q0 =[0   -pi/2   0   0   -pi/2   0];
0029 R=robot({L1 L2 L3 L4 L5 L6});
0030 R.name='Motoman HP6';
0031 %##########################################################

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