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
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 %##########################################################