puma560akb_motor.m

%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.

% Copyright (C) 1993-2002, by Peter I. Corke
% CHANGES:
% 12/01 convert to object format
% $Log: puma560akb_motor.m,v $
% Revision 1.2  2004/07/06 02:16:36  gourdeau
% doxy etc
%
% Revision 1.1  2004/05/12 13:34:37  elachance
% Initial revision
%
% Revision 1.1  2003/02/06 04:31:36  gourdeau
% 1er rev Etienne L.
%
% Revision 1.1  2002/12/17 02:32:22  elachance
% Initial revision
%
% Revision 1.1  2002/12/13 04:50:14  elachance
% Initial revision
%
% Revision 1.3  2002/04/01 11:47:15  pic
% General cleanup of code: help comments, see also, copyright, remnant dh/dyn
% references, clarification of functions.
%
% $Revision: 1.2 $

clear L
%            alpha   A     theta    D   sigma
L{1} = link([0       0       0       0       0], 'mod');
L{2} = link([-pi/2   0       0       0  0], 'mod');
L{3} = link([0       0.4318  0      -0.15005 0], 'mod');
L{4} = link([-pi/2   0.0203 0       -.4318   0], 'mod');
L{5} = link([pi/2   0       0       0       0], 'mod');
L{6} = link([-pi/2    0       0       0       0], 'mod');

%L{1} = link([0       0       0       0       0], 'mod');
%L{2} = link([-pi/2   0       0       0.2435  0], 'mod');
%L{3} = link([0       0.4318  0       -0.0934 0], 'mod');
%L{4} = link([pi/2    -0.0203 0       .4331   0], 'mod');
%L{5} = link([-pi/2   0       0       0       0], 'mod');
%L{6} = link([pi/2    0       0       0       0], 'mod');

L{1}.m = 0;
L{2}.m = 17.4;
L{3}.m = 4.8;
L{4}.m = 0.82;
L{5}.m = 0.34;
L{6}.m = .09;

%         rx      ry      rz
L{1}.r = [0   0   0     ];
L{2}.r = [0.068   0.006   -0.016];
L{3}.r = [0   -0.070  0.014 ];
L{4}.r = [0   0   -0.019];
L{5}.r = [0   0   0     ];
L{6}.r = [0   0   .032  ];

%        Ixx     Iyy      Izz    Ixy     Iyz     Ixz
L{1}.I = [0   0   0.35    0       0       0];
L{2}.I = [.13     .524    .539    0   0   0];
L{3}.I = [.066    .0125   .066    0   0   0];
L{4}.I = [1.8e-3  1.8e-3  1.3e-3  0   0   0];
L{5}.I = [.3e-3   .3e-3   .4e-3   0   0   0];
L{6}.I = [.15e-3  .15e-3  .04e-3  0   0   0];

L{1}.Jm =  200e-6;
L{2}.Jm =  200e-6;
L{3}.Jm =  200e-6;
L{4}.Jm =  33e-6;
L{5}.Jm =  33e-6;
L{6}.Jm =  33e-6;

%L{1}.G =  1.0;
%L{2}.G =  1.0;
%L{3}.G =  1.0;
%L{4}.G =  1.0;
%L{5}.G =  1.0;
%L{6}.G =  1.0;

L{1}.G =  -62.6111;
L{2}.G =  107.815;
L{3}.G =  -53.7063;
L{4}.G =  76.0364;
L{5}.G =  71.923;
L{6}.G =  76.686;

% viscous friction (motor referenced)
L{1}.B =   1.48e-3;
L{2}.B =   .817e-3;
L{3}.B =    1.38e-3;
L{4}.B =   71.2e-6;
L{5}.B =   82.6e-6;
L{6}.B =   36.7e-6;

% Coulomb friction (motor referenced)
L{1}.Tc = [ 0.0  0.0];
L{2}.Tc = [ 0.0  0.0];
L{3}.Tc = [ 0.0  0.0];
L{4}.Tc = [ 0.0  0.0];
L{5}.Tc = [ 0.0  0.0];
L{6}.Tc = [ 0.0  0.0];

%L{1}.Tc = [ .395       -.435];
%L{2}.Tc = [ .126       -.071];
%L{3}.Tc = [ .132       -.105];
%L{4}.Tc = [ 11.2e-3 -16.9e-3];
%L{5}.Tc = [ 9.26e-3 -14.5e-3];
%L{6}.Tc = [ 3.96e-3 -10.5e-3];

%
% some useful poses
%
qz = [0 0 0 0 0 0]; % zero angles, L shaped pose
qr = [0 -pi/2 pi/2 0 0 0]; % ready pose, arm up
qstretch = [0 0 pi/2 0 0 0]; % horizontal along x-axis

p560m = robot(L, 'Puma560-AKB', 'Unimation', 'AK&B');
clear L