def __init__(self):
# create the base
links = [
PrismaticDH(alpha=-pi / 2, qlim=[-1, 1]),
PrismaticDH(theta=-pi / 2, alpha=pi / 2, qlim=[-1, 1])
]
# stick the Puma on top
puma = models.DH.Puma560()
links.extend(puma.links)
super().__init__(links,
name="P8",
keywords=('mobile', 'redundant'),
base=SE3.Ry(pi / 2))
self.addconfiguration("qz", np.zeros((8, )))
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):
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):
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]))