资源简介
在matlab工具箱robot下对puma560机器的进行运动仿真的程序
代码片段和文件信息
%PUMA560 Load kinematic and dynamic data for a Puma 560 manipulator
%
% PUMA560
%
% Defines the object ‘p560‘ in the current workspace which describes the
% kinematic and dynamic characterstics of a Unimation Puma 560 manipulator
% using standard DH conventions.
% The model includes armature inertia and gear ratios.
%
% 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 PUMA560AKB STANFORD TWOlink.
%
% Notes:
% - the value of m1 is given as 0 here. Armstrong found no value for it
% and it does not appear in the equation for tau1 after the substituion
% is made to inertia about link frame rather than COG frame.
% updated:
% 2/8/95 changed D3 to 150.05mm which is closer to data from Lee AKB86 and Tarn
% fixed errors in COG for links 2 and 3
% 29/1/91 to agree with data from Armstrong etal. Due to their use
% of modified D&H params some of the offsets Ai Di are
% offset and for links 3-5 swap Y and Z axes.
% 14/2/91 to use Paul‘s value of link twist (alpha) to be consistant
% with ARCL. This is the -ve of Lee‘s values which means the
% zero angle position is a righty for Paul and lefty for Lee.
% Note that gravity load torque is the motor torque necessary
% to keep the joint static and is thus -ve of the gravity
% caused torque.
%
% 8/95 fix bugs in COG data for Puma 560. This led to signficant errors in
% inertia of joint 1.
% $Log: not supported by cvs2svn $
% Revision 1.4 2008/04/27 11:36:54 cor134
% Add nominal (non singular) pose qn
% Copyright (C) 1993-2008 by Peter I. Corke
%
% This file is part of The Robotics Toolbox for Matlab (RTB).
%
% RTB is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation either version 3 of the License or
% (at your option) any later version.
%
% RTB is distribu
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