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stanford

PURPOSE ^

STANFORD Load kinematic and dynamic data for Stanford arm

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

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.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

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';

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