FANUC10L Load kinematic data for a Fanuc AM120iB/10L robot Fanuc10L Defines the object 'R' in the current workspace which describes the kinematic characterstics of a Fanuc AM120iB/10L using standard DH conventions. Also define the vector q0 which corresponds to mastering 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 Fanuc AM120iB/10L robot
0001 % FANUC10L Load kinematic data for a Fanuc AM120iB/10L robot 0002 % 0003 % Fanuc10L 0004 % 0005 % Defines the object 'R' in the current workspace which describes the 0006 % kinematic characterstics of a Fanuc AM120iB/10L 0007 % using standard DH conventions. 0008 % 0009 % Also define the vector q0 which corresponds to mastering 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 %Fanuc AM120iB/10L robot 0017 0018 L1 = link([-pi/2 0.15 0 0 0 ]); 0019 L2 = link([ pi 0.77 0 0 0 ]); 0020 L3 = link([-pi/2 0.1 0 0 0 ]); 0021 L4 = link([ pi/2 0 0 -0.96 0 ]); 0022 L5 = link([-pi/2 0 0 0 0 ]); 0023 L6 = link([ 0 0 0 -0.1 0 ]); 0024 %########################################################## 0025 %Pose 0; At MASTERING position; 0026 %########################################################## 0027 q0 =[0 -pi/2 0 0 0 0]; 0028 R=robot({L1 L2 L3 L4 L5 L6}); 0029 R.name='Fanuc AM120iB/10L'; 0030 %##########################################################