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Fanuc10L

PURPOSE ^

FANUC10L Load kinematic data for a Fanuc AM120iB/10L robot

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

 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

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

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

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