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puma560akb

PURPOSE ^

PUMA560AKB Load kinematic and dynamic data for a Puma 560 manipulator

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

PUMA560AKB Load kinematic and dynamic data for a Puma 560 manipulator

    PUMA560AKB

 Defines the object 'p560m' in current workspace which describes the 
 kinematic and dynamic characterstics of a Unimation Puma 560 manipulator 
 modified DH conventions and using the data and conventions of:

    Armstrong, Khatib and Burdick 1986.
    "The Explicit Dynamic Model and Inertial Parameters of the Puma 560 Arm"

 Also define the vector qz which corresponds to the zero joint
 angle configuration, qr which is the vertical 'READY' configuration,
 and qstretch in which the arm is stretched out in the X direction.

 See also: ROBOT, PUMA560, STANFORD, TWOLINK.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %PUMA560AKB Load kinematic and dynamic data for a Puma 560 manipulator
0002 %
0003 %    PUMA560AKB
0004 %
0005 % Defines the object 'p560m' in current workspace which describes the
0006 % kinematic and dynamic characterstics of a Unimation Puma 560 manipulator
0007 % modified DH conventions and using the data and conventions of:
0008 %
0009 %    Armstrong, Khatib and Burdick 1986.
0010 %    "The Explicit Dynamic Model and Inertial Parameters of the Puma 560 Arm"
0011 %
0012 % Also define the vector qz which corresponds to the zero joint
0013 % angle configuration, qr which is the vertical 'READY' configuration,
0014 % and qstretch in which the arm is stretched out in the X direction.
0015 %
0016 % See also: ROBOT, PUMA560, STANFORD, TWOLINK.
0017 
0018 % Copyright (C) 1993-2008, by Peter I. Corke
0019 %
0020 % This file is part of The Robotics Toolbox for Matlab (RTB).
0021 %
0022 % RTB is free software: you can redistribute it and/or modify
0023 % it under the terms of the GNU Lesser General Public License as published by
0024 % the Free Software Foundation, either version 3 of the License, or
0025 % (at your option) any later version.
0026 %
0027 % RTB is distributed in the hope that it will be useful,
0028 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0029 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0030 % GNU Lesser General Public License for more details.
0031 %
0032 % You should have received a copy of the GNU Leser General Public License
0033 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0034 
0035 clear L
0036 %            alpha   A     theta    D    sigma
0037 L{1} = link([0       0       0       0       0], 'mod');
0038 L{2} = link([-pi/2   0       0       0.2435  0], 'mod');
0039 L{3} = link([0       0.4318  0       -0.0934 0], 'mod');
0040 L{4} = link([pi/2    -0.0203 0       .4331   0], 'mod');
0041 L{5} = link([-pi/2   0       0       0       0], 'mod');
0042 L{6} = link([pi/2    0       0       0       0], 'mod');
0043 
0044 L{1}.m = 0;
0045 L{2}.m = 17.4;
0046 L{3}.m = 4.8;
0047 L{4}.m = 0.82;
0048 L{5}.m = 0.34;
0049 L{6}.m = .09;
0050 
0051 %         rx      ry      rz
0052 L{1}.r = [0   0      0    ];
0053 L{2}.r = [0.068   0.006   -0.016];
0054 L{3}.r = [0   -0.070  0.014 ];
0055 L{4}.r = [0   0      -0.019];
0056 L{5}.r = [0   0      0    ];
0057 L{6}.r = [0   0      .032    ];
0058 
0059 %        Ixx     Iyy      Izz    Ixy     Iyz     Ixz
0060 L{1}.I = [0   0      0.35    0      0      0];
0061 L{2}.I = [.13   .524    .539    0      0      0];
0062 L{3}.I = [.066    .0125   .066    0   0      0];
0063 L{4}.I = [1.8e-3  1.8e-3  1.3e-3  0   0      0];
0064 L{5}.I = [.3e-3   .3e-3   .4e-3   0   0      0];
0065 L{6}.I = [.15e-3  .15e-3  .04e-3  0   0      0];
0066 
0067 L{1}.Jm =  291e-6;
0068 L{2}.Jm =  409e-6;
0069 L{3}.Jm =  299e-6;
0070 L{4}.Jm =  35e-6;
0071 L{5}.Jm =  35e-6;
0072 L{6}.Jm =  35e-6;
0073 
0074 L{1}.G =  -62.6111;
0075 L{2}.G =  107.815;
0076 L{3}.G =  -53.7063;
0077 L{4}.G =  76.0364;
0078 L{5}.G =  71.923;
0079 L{6}.G =  76.686;
0080 
0081 % viscous friction (motor referenced)
0082 % unknown
0083 
0084 % Coulomb friction (motor referenced)
0085 % unknown
0086 
0087 %
0088 % some useful poses
0089 %
0090 qz = [0 0 0 0 0 0]; % zero angles, L shaped pose
0091 qr = [0 -pi/2 pi/2 0 0 0]; % ready pose, arm up
0092 qstretch = [0 0 pi/2 0 0 0]; % horizontal along x-axis
0093 
0094 p560m = robot(L, 'Puma560-AKB', 'Unimation', 'AK&B');
0095 clear L

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