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%MDL_PUMA560 Create model of Puma 560 manipulator
%
% mdl_puma560
%
% Script creates the workspace variable p560 which describes the
% kinematic and dynamic characteristics of a Unimation Puma 560 manipulator
% using standard DH conventions.
% The model includes armature inertia and gear ratios.
%
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr vertical 'READY' configuration
% qstretch arm is stretched out in the X direction
% qn arm is at a nominal non-singular configuration
%
% Reference::
% - "A search for consensus among model parameters reported for the PUMA 560 robot",
% P. Corke and B. Armstrong-Helouvry,
% Proc. IEEE Int. Conf. Robotics and Automation, (San Diego),
% pp. 1608-1613, May 1994.
%
% See also SerialLink, mdl_puma560akb, mdl_stanford, mdl_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) 1993-2011, 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 distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Leser General Public License
% along with RTB. If not, see <http://www.gnu.org/licenses/>.
clear L
% th d a alpha
L(1) = Link([ 0 0 0 pi/2 0], 'standard');
L(2) = Link([ 0 0 0.4318 0 0], 'standard');
L(3) = Link([ 0 0.15005 0.0203 -pi/2 0], 'standard');
L(4) = Link([ 0 0.4318 0 pi/2 0], 'standard');
L(5) = Link([ 0 0 0 -pi/2 0], 'standard');
L(6) = Link([ 0 0 0 0 0], 'standard');
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;
L(1).r = [ 0 0 0 ];
L(2).r = [ -.3638 .006 .2275];
L(3).r = [ -.0203 -.0141 .070];
L(4).r = [ 0 .019 0];
L(5).r = [ 0 0 0];
L(6).r = [ 0 0 .032];
L(1).I = [ 0 0.35 0 0 0 0];
L(2).I = [ .13 .524 .539 0 0 0];
L(3).I = [ .066 .086 .0125 0 0 0];
L(4).I = [ 1.8e-3 1.3e-3 1.8e-3 0 0 0];
L(5).I = [ .3e-3 .4e-3 .3e-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 = -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;
p560 = SerialLink(L, 'name', 'Puma 560', ...
'manufacturer', 'Unimation', 'comment', 'viscous friction; params of 8/95');
% Coulomb friction (motor referenced)
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
qs = [0 0 -pi/2 0 0 0];
qn=[0 pi/4 pi 0 pi/4 0];
p560_f = SerialLink(L, 'name', 'Puma 560', ...
'manufacturer', 'Unimation', 'comment', 'nonlin friction; params of 8/95');
clear L