stanford_no_motor.m

%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.

% $Log: stanford_no_motor.m,v $
% Revision 1.2  2004/07/06 02:16:37  gourdeau
% doxy etc
%
% Revision 1.1  2004/05/12 13:34:37  elachance
% Initial revision
%
% Revision 1.1  2003/02/06 04:18:59  gourdeau
% no message
%
% Revision 1.1  2002/12/13 04:50:22  elachance
% Initial revision
%
% Revision 1.2  2002/04/01 11:47:18  pic
% General cleanup of code: help comments, see also, copyright, remnant dh/dyn
% references, clarification of functions.
%
% $Revision: 1.2 $
% Copyright (C) 1990-2002, by Peter I. Corke

% alpha A       theta   D       sigma   m       rx      ry      rz      Ixx     Iyy     Izz     Ixy     Iyz     Ixz     Jm      G
stanford_dyn = [
-pi/2 0 0       0.412   0       9.29    0       .0175   -0.1105 0.276   0.255   0.071   0       0       0       0       1
pi/2 0  0       0.154   0       5.01    0       -1.054  0       0.108   0.018   0.100   0       0       0       0       1       
0 0     -pi/2   0       1       4.25    0       0       -6.447  2.51    2.51    0.006   0       0       0       0       1
-pi/2 0 0       0       0       1.08    0       0.092   -0.054  0.002   0.001   0.001   0       0       0       0       1
pi/2 0  0       0       0       0.63    0       0       0.566   0.003   0.003   0.0004  0       0       0       0       1
0 0     0       0.263   0       0.51    0       0       1.554   0.013   0.013   0.0003  0       0       0       0       1
];

qz = [0 0 0 0 0 0];

stanf = robot(stanford_dyn);
stanf.plotopt = {'workspace', [-2 2 -2 2 -2 2]};
stanf.name = 'Stanford arm';