def __init__(self):
L = [RevoluteDH(a=1), RevoluteDH(a=1)]
super().__init__(L, name='Planar 2 link', keywords=('planar', ))
self.addconfiguration("qz", [0, 0])
self.addconfiguration("q1", [0, pi / 2])
self.addconfiguration("q2", [pi / 2, -pi / 2])
def __init__(self):
L = [
RevoluteDH(a=1, jointtype='R'),
RevoluteDH(a=1, jointtype='R'),
RevoluteDH(a=1, jointtype='R')
]
self._qz = [np.pi / 4, 0.1, 0.1]
super(Threelink, self).__init__(L, name='Simple three link')
def __init__(self):
deg = pi/180
L = [RevoluteDH(d=0.387, a=0.325, qlim=[-50*deg, 50*deg]),
RevoluteDH(a=0.275, alpha=pi, qlim=[-88*deg, 88*deg]),
PrismaticDH(qlim=[0, 0.210]),
RevoluteDH()]
super(Cobra600, self).__init__(L, name='Cobra600', manufacturer='Adept')
self._qz = [0, 0, 0, 0]
def __init__(self, base=None):
mm = 1e-3
deg = pi / 180
# details from
h = 53.0 * mm
r = 30.309 * mm
l2 = 170.384 * mm
l3 = 136.307 * mm
l4 = 86.00 * mm
c = 40.0 * mm
# tool_offset = l4 + c
# Turret, Shoulder, Elbow, Wrist, Claw
links = [
RevoluteDH(d=h, a=0, alpha=90 * deg), # Turret
RevoluteDH(
d=0,
a=l2,
alpha=0, # Shoulder
qlim=[10 * deg, 122.5 * deg]),
RevoluteDH(
d=0,
a=-l3,
alpha=0, # Elbow
qlim=[20 * deg, 340 * deg]),
RevoluteDH(
d=0,
a=l4 + c,
alpha=0, # Wrist
qlim=[45 * deg, 315 * deg])
]
super().__init__(links,
name="Orion 5",
manufacturer="RAWR Robotics",
base=SE3(r, 0, 0),
tool=SE3.Ry(90, 'deg'))
# zero angles, all folded up
self.addconfiguration("qz", np.r_[0, 90, 180, 180] * deg)
# stretched out vertically
self.addconfiguration("qv", np.r_[0, 90, 180, 180] * deg)
# arm horizontal, hand down
self.addconfiguration("qh", np.r_[0, 0, 180, 90] * deg)
def __init__(self):
deg = pi / 180
L = [
RevoluteDH(d=0.387, a=0.325, qlim=[-50 * deg, 50 * deg]),
RevoluteDH(a=0.275, alpha=pi, qlim=[-88 * deg, 88 * deg]),
PrismaticDH(qlim=[0, 0.210]),
RevoluteDH()
]
super().__init__(L, name='Cobra600', manufacturer='Adept')
# zero angles, L shaped pose
self.addconfiguration("qz", np.array([0, 0, 0, 0]))
def __init__(self, N=10, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
zero = 0.0
a = 1 / N
links = []
for i in range(N):
links.append(RevoluteDH(a=a, alpha=5 * pi / N))
super().__init__(links,
name="Hyper" + str(N),
keywords=('symbolic', ),
symbolic=symbolic)
# zero angles, straight
self.addconfiguration("qz", np.zeros((N, )))
# folded, helix with ~5.5 turns
self.addconfiguration("qf", np.ones((N, )) * 10 * pi / N)
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
zero = 0.0
deg = pi / 180
mm = 1e-3
# kinematic parameters
a = np.r_[81, 0, 0, 0, 0, 0, 0] * mm
d = np.r_[317, 192.5, 400, 168.5, 400, 136.3, 133.75] * mm
alpha = [-pi / 2, -pi / 2, -pi / 2, -pi / 2, -pi / 2, -pi / 2, 0]
links = []
for j in range(6):
link = RevoluteDH(d=d[j], a=a[j], alpha=alpha[j])
links.append(link)
super().__init__(links,
name="Sawyer",
manufacturer="Rethink Robotics",
keywords=(
'redundant',
'symbolic',
),
symbolic=symbolic)
# zero angles
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
a1, a2 = sym.symbol('a1 a2')
else:
from math import pi
zero = 0.0
a1 = 1
a2 = 1
L = [RevoluteDH(a=a1, alpha=zero), RevoluteDH(a=a2, alpha=zero)]
super().__init__(L, name='Planar 2 link', keywords=('planar', ))
self.addconfiguration("qz", [0, 0])
self.addconfiguration("q1", [0, pi / 2])
self.addconfiguration("q2", [pi / 2, -pi / 2])
def __init__(self):
deg = pi / 180
# robot length values (metres)
d1 = 0.352
a1 = 0.070
a2 = 0.360
d4 = 0.380
d6 = 0.065
# Create Links
L = [
RevoluteDH(d=d1,
a=a1,
alpha=-pi / 2,
m=34655.36e-3,
r=np.array([27.87, 43.12, -89.03]) * 1e-3,
I=np.array([
512052539.74, 1361335.88, 51305020.72, 1361335.88,
464074688.59, 70335556.04, 51305020.72, 70335556.04,
462745526.12
]) * 1e-9),
RevoluteDH(d=0,
a=a2,
alpha=0,
m=15994.59e-3,
r=np.array([198.29, 9.73, 92.43]) * 1e03,
I=np.array([
94817914.40, -3859712.77, 37932017.01, -3859712.77,
328604163.24, -1088970.86, 37932017.01, -1088970.86,
277463004.88
]) * 1e-9),
RevoluteDH(
d=0,
a=0,
alpha=pi / 2,
m=20862.05e-3,
r=np.array([-4.56, -79.96, -5.86]),
I=np.array([
500060915.95, -1863252.17, 934875.78, -1863252.17,
75152670.69, -15204130.09, 934875.78, -15204130.09,
515424754.34
]) * 1e-9,
),
RevoluteDH(d=d4, a=0, alpha=-pi / 2),
RevoluteDH(d=0, a=0, alpha=pi / 2),
RevoluteDH(d=d6, a=0, alpha=pi / 2)
]
super().__init__(
L,
# basemesh="ABB/IRB140/link0.stl",
name='IRB 140',
manufacturer='ABB')
self.addconfiguration("qz", [0, 0, 0, 0, 0, 0])
self.addconfiguration("qd", [0, -90 * deg, 180 * deg, 0, 0, -90 * deg])
self.addconfiguration("qr",
[0, -90 * deg, 90 * deg, 0, 90 * deg, -90 * deg])
def __init__(self, N=10):
links = []
q1 = []
for i in range(N):
links.append(RevoluteDH(a=0.1, alpha=pi / 2))
# and build a serial link manipulator
super(Ball, self).__init__(links, name='ball')
# zero angles, ball pose
self.addconfiguration("qz", np.zeros(N, ))
self.addconfiguration("q1", [_fract(i) for i in range(N)])
def __init__(self, N=None):
links = []
self._qz = []
if not N:
N = 10
self.N = N
for i in range(self.N):
links.append(RevoluteDH(a=0.1, alpha=pi / 2))
self._qz.append(self.fract(i + 1))
# and build a serial link manipulator
super(Ball, self).__init__(links, name='ball')
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
a1, a2 = sym.symbol('a1 a2')
m1, m2 = sym.symbol('m1 m2')
c1, c2 = sym.symbol('c1 c2')
g = sym.symbol('g')
else:
from math import pi
zero = 0.0
a1 = 1
a2 = 1
m1 = 1
m2 = 1
c1 = -0.5
c2 = -0.5
g = 9.8
links = [
RevoluteDH(a=a1, alpha=zero, m=m1, r=[c1, 0, 0]),
RevoluteDH(a=a2, alpha=zero, m=m2, r=[c2, 0, 0])
]
super().__init__(links,
symbolic=symbolic,
name='2 link',
keywords=('planar', 'dynamics'))
self.addconfiguration("qz", [0, 0])
self.addconfiguration("q1", [0, pi / 2])
self.addconfiguration("q2", [pi / 2, -pi / 2])
self.addconfiguration("qn", [pi / 6, -pi / 6])
self.base = SE3.Rx(pi / 2)
self.gravity = [0, 0, g]
def __init__(self):
# deg = np.pi/180
mm = 1e-3
tool_offset = (103) * mm
flange = 0 * mm
# d7 = (58.4)*mm
# This Kuka model is defined using modified
# Denavit-Hartenberg parameters
L = [
RevoluteDH(a=0.0,
d=0,
alpha=np.pi / 2,
qlim=np.array([-2.8973, 2.8973])),
RevoluteDH(a=0.0,
d=0.0,
alpha=-np.pi / 2,
qlim=np.array([-1.7628, 1.7628])),
RevoluteDH(a=0.0,
d=0.40,
alpha=-np.pi / 2,
qlim=np.array([-2.8973, 2.8973])),
RevoluteDH(a=0.0,
d=0.0,
alpha=np.pi / 2,
qlim=np.array([-3.0718, -0.0698])),
RevoluteDH(a=0.0,
d=0.39,
alpha=np.pi / 2,
qlim=np.array([-2.8973, 2.8973])),
RevoluteDH(a=0.0,
d=0.0,
alpha=-np.pi / 2,
qlim=np.array([-0.0175, 3.7525])),
RevoluteDH(a=0.0,
d=flange,
alpha=0.0,
qlim=np.array([-2.8973, 2.8973]))
]
tool = transl(0, 0, tool_offset) @ trotz(-np.pi / 4)
super().__init__(L, name='LWR-IV', manufacturer='Kuka', tool=tool)
# tool = xyzrpy_to_trans(0, 0, d7, 0, 0, -np.pi/4)
self.addconfiguration("qz", [0, 0, 0, 0, 0, 0, 0])
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
zero = 0.0
deg = pi / 180
inch = 0.0254
# robot length values (metres)
a = [0, -0.612, -0.5723, 0, 0, 0]
d = [0.1273, 0, 0, 0.163941, 0.1157, 0.0922]
alpha = [pi / 2, zero, zero, pi / 2, -pi / 2, zero]
# mass data, no inertia available
mass = [7.1, 12.7, 4.27, 2.000, 2.000, 0.365]
center_of_mass = [[0.021, 0, 0.027], [0.38, 0, 0.158],
[0.24, 0, 0.068], [0.0, 0.007, 0.018],
[0.0, 0.007, 0.018], [0, 0, -0.026]]
links = []
for j in range(6):
link = RevoluteDH(d=d[j],
a=a[j],
alpha=alpha[j],
m=mass[j],
r=center_of_mass[j],
G=1)
links.append(link)
super().__init__(links,
name="UR10",
manufacturer="Universal Robotics",
keywords=('dynamics', 'symbolic'),
symbolic=symbolic)
# zero angles
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
# horizontal along the x-axis
self.addconfiguration("qr", np.r_[180, 0, 0, 0, 90, 0] * deg)
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
zero = 0.0
deg = pi / 180
inch = 0.0254
# robot length values (metres)
a = [0, -0.42500, -0.39225, 0, 0, 0]
d = [0.089459, 0, 0, 0.10915, 0.09465, 0.0823]
alpha = [pi / 2, zero, zero, pi / 2, -pi / 2, zero]
# mass data, no inertia available
mass = [3.7000, 8.3930, 2.33, 1.2190, 1.2190, 0.1897]
center_of_mass = [[0, -0.02561, 0.00193], [0.2125, 0, 0.11336],
[0.15, 0, 0.0265], [0, -0.0018, 0.01634],
[0, -0.0018, 0.01634], [0, 0, -0.001159]]
links = []
for j in range(6):
link = RevoluteDH(d=d[j],
a=a[j],
alpha=alpha[j],
m=mass[j],
r=center_of_mass[j],
G=1)
links.append(link)
super().__init__(links,
name="UR5",
manufacturer="Universal Robotics",
keywords=('dynamics', 'symbolic'),
symbolic=symbolic)
# zero angles
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
# horizontal along the x-axis
self.addconfiguration("qr", np.r_[180, 0, 0, 0, 90, 0] * deg)
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
zero = 0.0
deg = pi / 180
inch = 0.0254
# robot length values (metres)
a = [0, -0.24365, -0.21325, 0, 0, 0]
d = [0.1519, 0, 0, 0.11235, 0.08535, 0.0819]
alpha = [pi / 2, zero, zero, pi / 2, -pi / 2, zero]
# mass data, no inertia available
mass = [2, 3.42, 1.26, 0.8, 0.8, 0.35]
center_of_mass = [[0, -0.02, 0], [0.13, 0, 0.1157], [0.05, 0, 0.0238],
[0, 0, 0.01], [0, 0, 0.01], [0, 0, -0.02]]
links = []
for j in range(6):
link = RevoluteDH(d=d[j],
a=a[j],
alpha=alpha[j],
m=mass[j],
r=center_of_mass[j],
G=1)
links.append(link)
super().__init__(links,
name="UR3",
manufacturer="Universal Robotics",
keywords=('dynamics', 'symbolic'),
symbolic=symbolic)
# zero angles
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
# horizontal along the x-axis
self.addconfiguration("qr", np.r_[180, 0, 0, 0, 90, 0] * deg)
def __init__(self):
deg = pi / 180
# Updated values form ARTE git. Old values left as comments
L1 = RevoluteDH(a=0.18, d=0.4,
alpha=-pi/2, # alpha=pi / 2,
qlim=[-155 * deg, 155 * deg]
)
L2 = RevoluteDH(a=0.6, d=0, # d=0.135,
alpha=0, # alpha=pi,
qlim=[-180 * deg, 65 * deg]
)
L3 = RevoluteDH(a=0.12,
d=0, # d=0.135,
alpha=pi/2, # alpha=-pi / 2,
qlim=[-15 * deg, 158 * deg]
)
L4 = RevoluteDH(a=0.0,
d=-0.62, # d=0.62,
alpha=-pi/2, # alpha=pi / 2,
qlim=[-350 * deg, 350 * deg]
)
L5 = RevoluteDH(a=0.0,
d=0.0,
alpha=pi/2, # alpha=-pi / 2,
qlim=[-130 * deg, 130 * deg]
)
L6 = RevoluteDH(a=0,
d=-0.115,
alpha=pi,
qlim=[-350 * deg, 350 * deg]
)
L = [L1, L2, L3, L4, L5, L6]
# Create SerialLink object
super().__init__(
L,
# meshdir="KUKA/KR5_arc",
name='KR5',
manufacturer='KUKA',
meshdir="meshes/KUKA/KR5_arc")
self.addconfiguration("qz", [0, 0, 0, 0, 0, 0])
self.addconfiguration(
"qk1", [pi / 4, pi / 3, pi / 4, pi / 6, pi / 4, pi / 6])
self.addconfiguration(
"qk2", [pi / 4, pi / 3, pi / 6, pi / 3, pi / 4, pi / 6])
self.addconfiguration(
"qk3", [pi / 6, pi / 3, pi / 6, pi / 3, pi / 6, pi / 3])
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
zero = 0.0
deg = pi / 180
# robot length values (metres)
D1 = 0.2755
D2 = 0.2900
D3 = 0.1233
D4 = 0.0741
D5 = 0.0741
D6 = 0.1600
e2 = 0.0070
# alternate parameters
aa = 30 * deg
ca = cos(aa)
sa = sin(aa)
c2a = cos(2 * aa)
s2a = sin(2 * aa)
d4b = D3 + sa / s2a * D4
d5b = sa / s2a * D4 + sa / s2a * D5
d6b = sa / s2a * D5 + D6
# and build a serial link manipulator
# offsets from the table on page 4, "Mico" angles are the passed joint
# angles. "DH Algo" are the result after adding the joint angle offset.
super().__init__([
RevoluteDH(alpha=pi / 2, a=0, d=D1, flip=True),
RevoluteDH(alpha=pi, a=D2, d=0, offset=-pi / 2),
RevoluteDH(alpha=pi / 2, a=0, d=-e2, offset=pi / 2),
RevoluteDH(alpha=2 * aa, a=0, d=-d4b),
RevoluteDH(alpha=2 * aa, a=0, d=-d5b, offset=-pi),
RevoluteDH(alpha=pi, a=0, d=-d6b, offset=100 * deg)
],
name='Mico',
manufacturer='Kinova',
keywords=('symbolic', ))
self.addconfiguration('qz', np.r_[0, 0, 0, 0, 0, 0]) # zero angles
self.addconfiguration('qr', np.r_[270, 180, 180, 0, 0, 0] *
deg) # vertical pose as per Fig 2
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
deg = pi / 180
super().__init__( [
RevoluteDH(d=0.16977, alpha=-pi / 2, a=0.0642),
RevoluteDH(d=0, alpha=0, a=0.305),
RevoluteDH(d=0, alpha=pi / 2, a=0),
RevoluteDH(d=-0.22263, alpha=-pi / 2, a=0),
RevoluteDH(d=0, alpha=pi / 2, a=0),
RevoluteDH(d=-0.03625, alpha=0, a=0),
], name="AR3",manufacturer="AR3 ",)
def __init__(self, N=10, a=None, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
zero = 0.0
if a is None:
a = 1 / N
links = []
for i in range(N):
links.append(RevoluteDH(a=a, alpha=pi / 2))
super().__init__(links,
name="Hyper3d" + str(N),
keywords=('symbolic', ),
symbolic=symbolic)
# zero angles, straight
self.addconfiguration("qz", np.zeros((N, )))
def __init__(self, arm='left'):
links = [
RevoluteDH(d=0.27, a=0.069, alpha=-pi / 2),
RevoluteDH(d=0, a=0, alpha=pi / 2, offset=pi / 2),
RevoluteDH(d=0.102 + 0.262, a=0.069, alpha=-pi / 2),
RevoluteDH(d=0, a=0, alpha=pi / 2),
RevoluteDH(d=0.103 + 0.271, a=0.010, alpha=-pi / 2),
RevoluteDH(d=0, a=0, alpha=pi / 2),
RevoluteDH(d=0.28, a=0, alpha=0)
]
super().__init__(
links,
name=f"Baxter-{arm}",
manufacturer="Rethink Robotics",
)
# zero angles, L shaped pose
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0]))
# ready pose, arm up
self.addconfiguration("qr", np.array([0, -pi / 2, -pi / 2, 0, 0, 0,
0]))
# straight and horizontal
self.addconfiguration("qs", np.array([0, 0, -pi / 2, 0, 0, 0, 0]))
# nominal table top picking pose
self.addconfiguration("qn",
np.array([0, pi / 4, pi / 2, 0, pi / 4, 0, 0]))
if arm == 'left':
self.base = SE3(0.064614, 0.25858, 0.119) * SE3.Rz(pi / 4)
else:
self.base = SE3(0.063534, -0.25966, 0.119) * SE3.Rz(-pi / 4)
def __init__(self):
L1 = RevoluteDH(a=0.18,
d=0.4,
alpha=pi / 2,
mesh='KUKA/KR5_arc/link1.stl')
L2 = RevoluteDH(a=0.6,
d=0.135,
alpha=pi,
mesh='KUKA/KR5_arc/link2.stl')
L3 = RevoluteDH(a=0.12,
d=0.135,
alpha=-pi / 2,
mesh='KUKA/KR5_arc/link3.stl')
L4 = RevoluteDH(a=0.0,
d=0.62,
alpha=pi / 2,
mesh='KUKA/KR5_arc/link4.stl')
L5 = RevoluteDH(a=0.0,
d=0.0,
alpha=-pi / 2,
mesh='KUKA/KR5_arc/link5.stl')
L6 = RevoluteDH(mesh='KUKA/KR5_arc/link6.stl')
L = [L1, L2, L3, L4, L5, L6]
# Create SerialLink object
super().__init__(L,
meshdir="KUKA/KR5_arc",
name='KR5',
manufacturer='KUKA')
self.addconfiguration("qz", [0, 0, 0, 0, 0, 0])
self.addconfiguration("qk1",
[pi / 4, pi / 3, pi / 4, pi / 6, pi / 4, pi / 6])
self.addconfiguration("qk2",
[pi / 4, pi / 3, pi / 6, pi / 3, pi / 4, pi / 6])
self.addconfiguration("qk3",
[pi / 6, pi / 3, pi / 6, pi / 3, pi / 6, pi / 3])
def __init__(self):
L1 = RevoluteDH(a=0.18,
d=0.4,
alpha=pi / 2,
mesh='KUKA/KR5_arc/link1.stl')
L2 = RevoluteDH(a=0.6,
d=0.135,
alpha=pi,
mesh='KUKA/KR5_arc/link2.stl')
L3 = RevoluteDH(a=0.12,
d=0.135,
alpha=-pi / 2,
mesh='KUKA/KR5_arc/link3.stl')
L4 = RevoluteDH(a=0.0,
d=0.62,
alpha=pi / 2,
mesh='KUKA/KR5_arc/link4.stl')
L5 = RevoluteDH(a=0.0,
d=0.0,
alpha=-pi / 2,
mesh='KUKA/KR5_arc/link5.stl')
L6 = RevoluteDH(mesh='KUKA/KR5_arc/link6.stl')
L = [L1, L2, L3, L4, L5, L6]
self._qz = [0, 0, 0, 0, 0, 0]
self._qk1 = [pi / 4, pi / 3, pi / 4, pi / 6, pi / 4, pi / 6]
self._qk2 = [pi / 4, pi / 3, pi / 6, pi / 3, pi / 4, pi / 6]
self._qk3 = [pi / 6, pi / 3, pi / 6, pi / 3, pi / 6, pi / 3]
# Create SerialLink object
super(KR5, self).__init__(L,
basemesh="KUKA/KR5_arc/link0.stl",
name='KR5',
manufacturer='KUKA')
def __init__(self, symbolic=False):
if symbolic:
import spatialmath.base.symbolic as sym
zero = sym.zero()
pi = sym.pi()
else:
from math import pi
zero = 0.0
deg = pi / 180
inch = 0.0254
base = 26.45 * inch # from mounting surface to shoulder axis
L = [
RevoluteDH(
d=base, # link length (Dennavit-Hartenberg notation)
a=0, # link offset (Dennavit-Hartenberg notation)
alpha=pi / 2, # link twist (Dennavit-Hartenberg notation)
I=[0, 0.35, 0, 0, 0, 0],
# inertia tensor of link with respect to
# center of mass I = [L_xx, L_yy, L_zz,
# L_xy, L_yz, L_xz]
r=[0, 0, 0],
# distance of ith origin to center of mass [x,y,z]
# in link reference frame
m=0, # mass of link
Jm=200e-6, # actuator inertia
G=-62.6111, # gear ratio
B=1.48e-3, # actuator viscous friction coefficient (measured
# at the motor)
Tc=[0.395, -0.435],
# actuator Coulomb friction coefficient for
# direction [-,+] (measured at the motor)
qlim=[-160 * deg, 160 * deg] # minimum and maximum joint angle
),
RevoluteDH(
d=0,
a=0.4318,
alpha=zero,
I=[0.13, 0.524, 0.539, 0, 0, 0],
r=[-0.3638, 0.006, 0.2275],
m=17.4,
Jm=200e-6,
G=107.815,
B=.817e-3,
Tc=[0.126, -0.071],
qlim=[-110 * deg, 110 * deg], # qlim=[-45*deg, 225*deg]
),
RevoluteDH(
d=0.15005,
a=0.0203,
alpha=-pi / 2,
I=[0.066, 0.086, 0.0125, 0, 0, 0],
r=[-0.0203, -0.0141, 0.070],
m=4.8,
Jm=200e-6,
G=-53.7063,
B=1.38e-3,
Tc=[0.132, -0.105],
qlim=[-135 * deg, 135 * deg] # qlim=[-225*deg, 45*deg]
),
RevoluteDH(
d=0.4318,
a=0,
alpha=pi / 2,
I=[1.8e-3, 1.3e-3, 1.8e-3, 0, 0, 0],
r=[0, 0.019, 0],
m=0.82,
Jm=33e-6,
G=76.0364,
B=71.2e-6,
Tc=[11.2e-3, -16.9e-3],
qlim=[-266 * deg, 266 * deg] # qlim=[-110*deg, 170*deg]
),
RevoluteDH(d=0,
a=0,
alpha=-pi / 2,
I=[0.3e-3, 0.4e-3, 0.3e-3, 0, 0, 0],
r=[0, 0, 0],
m=0.34,
Jm=33e-6,
G=71.923,
B=82.6e-6,
Tc=[9.26e-3, -14.5e-3],
qlim=[-100 * deg, 100 * deg]),
RevoluteDH(d=0,
a=0,
alpha=zero,
I=[0.15e-3, 0.15e-3, 0.04e-3, 0, 0, 0],
r=[0, 0, 0.032],
m=0.09,
Jm=33e-6,
G=76.686,
B=36.7e-6,
Tc=[3.96e-3, -10.5e-3],
qlim=[-266 * deg, 266 * deg])
]
super().__init__(L,
name="Puma 560",
manufacturer="Unimation",
keywords=('dynamics', 'symbolic', 'mesh'),
symbolic=symbolic,
meshdir="meshes/UNIMATE/puma560")
# zero angles, L shaped pose
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
# ready pose, arm up
self.addconfiguration("qr", np.array([0, pi / 2, -pi / 2, 0, 0, 0]))
# straight and horizontal
self.addconfiguration("qs", np.array([0, 0, -pi / 2, 0, 0, 0]))
# nominal table top picking pose
self.addconfiguration("qn", np.array([0, pi / 4, pi, 0, pi / 4, 0]))
def __init__(self):
deg = pi / 180
inch = 0.0254
L0 = RevoluteDH(
d=0.412, # link length (Dennavit-Hartenberg notation)
a=0, # link offset (Dennavit-Hartenberg notation)
alpha=-pi / 2, # link twist (Dennavit-Hartenberg notation)
# inertia tensor of link with respect to
# center of mass I = [L_xx, L_yy, L_zz,
# L_xy, L_yz, L_xz]
I=[0.276, 0.255, 0.071, 0, 0, 0],
# distance of ith origin to center of mass [x,y,z]
# in link reference frame
r=[0, 0.0175, -0.1105],
m=9.29, # mass of link
Jm=0.953, # actuator inertia
G=1, # gear ratio
qlim=[-170 * deg, 170 * deg]) # minimum and maximum joint angle
L1 = RevoluteDH(d=0.154,
a=0.,
alpha=pi / 2,
I=[0.108, 0.018, 0.100, 0, 0, 0],
r=[0, -1.054, 0],
m=5.01,
Jm=2.193,
G=1,
qlim=[-170 * deg, 170 * deg])
L2 = PrismaticDH(theta=-pi / 2,
a=0.0203,
alpha=0,
I=[2.51, 2.51, 0.006, 0, 0, 0],
r=[0, 0, -6.447],
m=4.25,
Jm=0.782,
G=1,
qlim=[12 * inch, (12 + 38) * inch])
L3 = RevoluteDH(d=0,
a=0,
alpha=-pi / 2,
I=[0.002, 0.001, 0.001, 0, 0, 0],
r=[0, 0.092, -0.054],
m=1.08,
Jm=0.106,
G=1,
qlim=[-170 * deg, 170 * deg])
L4 = RevoluteDH(d=0,
a=0,
alpha=pi / 2,
I=[0.003, 0.0004, 0, 0, 0, 0],
r=[0, 0.566, 0.003],
m=0.630,
Jm=0.097,
G=1,
qlim=[-90 * deg, 90 * deg])
L5 = RevoluteDH(d=0,
a=0,
alpha=0,
I=[0.013, 0.013, 0.0003, 0, 0, 0],
r=[0, 0, 1.554],
m=0.51,
Jm=0.020,
G=1,
qlim=[-170 * deg, 170 * deg])
L = [L0, L1, L2, L3, L4, L5]
super().__init__(L,
name="Stanford arm",
manufacturer="Victor Scheinman",
keywords=('dynamics', ))
# zero angles, L shaped pose
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
- qz, zero joint angle configuration, 'L' shaped configuration
.. note::
- SI units are used.
- Robot has only 4 DoF.
.. codeauthor:: Peter Corke
"""
def __init__(self):
deg = pi / 180
L = [
RevoluteDH(d=0.387, a=0.325, qlim=[-50 * deg, 50 * deg]),
RevoluteDH(a=0.275, alpha=pi, qlim=[-88 * deg, 88 * deg]),
PrismaticDH(qlim=[0, 0.210]),
RevoluteDH()
]
super().__init__(L, name='Cobra600', manufacturer='Adept')
# zero angles, L shaped pose
self.addconfiguration("qz", np.array([0, 0, 0, 0]))
if __name__ == '__main__': # pragma nocover
deg = pi / 180
a = RevoluteDH(d=0.387, a=0.325, qlim=[-50 * deg, 50 * deg])
cobra = Cobra600()
print(cobra)
def __init__(self):
deg = pi / 180
base = 0.672 # from mounting surface to shoulder axis
L = [
RevoluteDH(
d=base, # link length (Dennavit-Hartenberg notation)
a=0, # link offset (Dennavit-Hartenberg notation)
alpha=pi / 2, # link twist (Dennavit-Hartenberg notation)
I=[0, 0.35, 0, 0, 0,
0], # inertia tensor of link with respect to
# center of mass I = [L_xx, L_yy, L_zz,
# L_xy, L_yz, L_xz]
r=[0, 0,
0], # distance of ith origin to center of mass [x,y,z]
# in link reference frame
m=0, # mass of link
Jm=200e-6, # actuator inertia
G=-62.6111, # gear ratio
B=1.48e-3, # actuator viscous friction coefficient (measured
# at the motor)
Tc=[0.395,
-0.435], # actuator Coulomb friction coefficient for
# direction [-,+] (measured at the motor)
qlim=[-160 * deg, 160 * deg] # minimum and maximum joint angle
),
RevoluteDH(d=0,
a=0.4318,
alpha=0,
I=[0.13, 0.524, 0.539, 0, 0, 0],
r=[-0.3638, 0.006, 0.2275],
m=17.4,
Jm=200e-6,
G=107.815,
B=.817e-3,
Tc=[0.126, -0.071],
qlim=[-45 * deg, 225 * deg]),
RevoluteDH(d=0.15005,
a=0.0203,
alpha=-pi / 2,
I=[0.066, 0.086, 0.0125, 0, 0, 0],
r=[-0.0203, -0.0141, 0.070],
m=4.8,
Jm=200e-6,
G=-53.7063,
B=1.38e-3,
Tc=[0.132, -0.105],
qlim=[-225 * deg, 45 * deg]),
RevoluteDH(d=0.4318,
a=0,
alpha=pi / 2,
I=[1.8e-3, 1.3e-3, 1.8e-3, 0, 0, 0],
r=[0, 0.019, 0],
m=0.82,
Jm=33e-6,
G=76.0364,
B=71.2e-6,
Tc=[11.2e-3, -16.9e-3],
qlim=[-110 * deg, 170 * deg]),
RevoluteDH(d=0,
a=0,
alpha=-pi / 2,
I=[0.3e-3, 0.4e-3, 0.3e-3, 0, 0, 0],
r=[0, 0, 0],
m=0.34,
Jm=33e-6,
G=71.923,
B=82.6e-6,
Tc=[9.26e-3, -14.5e-3],
qlim=[-100 * deg, 100 * deg]),
RevoluteDH(d=0,
a=0,
alpha=0,
I=[0.15e-3, 0.15e-3, 0.04e-3, 0, 0, 0],
r=[0, 0, 0.032],
m=0.09,
Jm=33e-6,
G=76.686,
B=36.7e-6,
Tc=[3.96e-3, -10.5e-3],
qlim=[-266 * deg, 266 * deg])
]
# zero angles, L shaped pose
self._qz = np.array([0, 0, 0, 0, 0, 0])
# ready pose, arm up
self._qr = np.array([0, pi / 2, -pi / 2, 0, 0, 0])
# straight and horizontal
self._qs = np.array([0, 0, -pi / 2, 0, 0, 0])
# nominal table top picking pose
self._qn = np.array([0, pi / 4, pi, 0, pi / 4, 0])
super().__init__(L, name="Puma 560", manufacturer="Unimation")