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S4ABB2p8

PURPOSE ^

S4ABB2p8 Load kinematic data for an ABB S4 2.8robot

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

 S4ABB2p8  Load kinematic data for an ABB S4 2.8robot 

    S4ABB2p8

 Defines the object 'R' in the current workspace which describes the 
 kinematic characterstics of an ABB S4 2.8 robot
 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
S4 ABB 2.8 robot

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 % S4ABB2p8  Load kinematic data for an ABB S4 2.8robot
0002 %
0003 %    S4ABB2p8
0004 %
0005 % Defines the object 'R' in the current workspace which describes the
0006 % kinematic characterstics of an ABB S4 2.8 robot
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 %S4 ABB 2.8 robot
0017 
0018 L1 = link([ -pi/2   0.188      0        0.9             0]);
0019 L2 = link([ 0       0.95       0        0               0]);
0020 L3 = link([ -pi/2   0.225      0        0               0]);
0021 L4 = link([ pi/2    0          0        1.705           0]);
0022 L5 = link([ -pi/2   0          0        0               0]);
0023 L6 = link([ -pi/2   0          0        0.2             0]);
0024 %##########################################################
0025 %Pose 0; At SYNCHRONISATION position
0026 %##########################################################
0027 q0 = [0     -pi/2         0       0      0     -pi/2];
0028 R=robot({L1 L2 L3 L4 L5 L6});
0029 R.name='S4 ABB 2.8';
0030 %##########################################################

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