STANFORD Load kinematic and dynamic data for Stanford arm Defines the object 'stanford' in the current workspace which describes the kinematic and dynamic characterstics of the Stanford (Scheinman) arm. Kinematic data from "Modelling, Trajectory calculation and Servoing of a computer controlled arm". Stanford AIM-177. Figure 2.3 Dynamic data from "Robot manipulators: mathematics, programming and control" Paul 1981, Tables 6.4, 6.6 Note: gear ratios not currently known, though reflected armature inertia is known, so gear ratios set to 1. Also define the vector qz which corresponds to the zero joint angle configuration. See also: ROBOT, PUMA560, PUMA560AKB, TWOLINK.
0001 %STANFORD Load kinematic and dynamic data for Stanford arm 0002 % 0003 % Defines the object 'stanford' in the current workspace which describes the 0004 % kinematic and dynamic characterstics of the Stanford (Scheinman) arm. 0005 % 0006 % Kinematic data from "Modelling, Trajectory calculation and Servoing of 0007 % a computer controlled arm". Stanford AIM-177. Figure 2.3 0008 % Dynamic data from "Robot manipulators: mathematics, programming and control" 0009 % Paul 1981, Tables 6.4, 6.6 0010 % 0011 % Note: gear ratios not currently known, though reflected armature inertia 0012 % is known, so gear ratios set to 1. 0013 % 0014 % Also define the vector qz which corresponds to the zero joint 0015 % angle configuration. 0016 % 0017 % See also: ROBOT, PUMA560, PUMA560AKB, TWOLINK. 0018 0019 % Copyright (C) 1990-2008, by Peter I. Corke 0020 % 0021 % This file is part of The Robotics Toolbox for Matlab (RTB). 0022 % 0023 % RTB is free software: you can redistribute it and/or modify 0024 % it under the terms of the GNU Lesser General Public License as published by 0025 % the Free Software Foundation, either version 3 of the License, or 0026 % (at your option) any later version. 0027 % 0028 % RTB is distributed in the hope that it will be useful, 0029 % but WITHOUT ANY WARRANTY; without even the implied warranty of 0030 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 0031 % GNU Lesser General Public License for more details. 0032 % 0033 % You should have received a copy of the GNU Leser General Public License 0034 % along with RTB. If not, see <http://www.gnu.org/licenses/>. 0035 0036 % alpha A theta D sigma m rx ry rz Ixx Iyy Izz Ixy Iyz Ixz Jm G 0037 stanford_dyn = [ 0038 -pi/2 0 0 0.412 0 9.29 0 .0175 -0.1105 0.276 0.255 0.071 0 0 0 0.953 1 0039 pi/2 0 0 0.154 0 5.01 0 -1.054 0 0.108 0.018 0.100 0 0 0 2.193 1 0040 0 0 -pi/2 0 1 4.25 0 0 -6.447 2.51 2.51 0.006 0 0 0 0.782 1 0041 -pi/2 0 0 0 0 1.08 0 0.092 -0.054 0.002 0.001 0.001 0 0 0 0.106 1 0042 pi/2 0 0 0 0 0.63 0 0 0.566 0.003 0.003 0.0004 0 0 0 0.097 1 0043 0 0 0 0.263 0 0.51 0 0 1.554 0.013 0.013 0.0003 0 0 0 0.020 1 0044 ]; 0045 0046 qz = [0 0 0 0 0 0]; 0047 0048 stanf = robot(stanford_dyn); 0049 stanf.plotopt = {'workspace', [-2 2 -2 2 -2 2]}; 0050 stanf.name = 'Stanford arm';