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