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()
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
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, -0.612, -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
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, 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, 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, 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, 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, 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, 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
L = [
rtb.RevoluteDH(
d=0.495,
a=0.175,
alpha=-pi/2,
qlim=[-pi, pi]
),
rtb.RevoluteDH(
d=0,
a=0.9,
alpha=0,
offset=-pi/2,
qlim=[-pi/2, 150.0*deg]
),
rtb.RevoluteDH(
d=0,
a=0.175,
alpha=-pi/2,
qlim=[-pi, 75*deg]
),
rtb.RevoluteDH(
d=0.960,
a=0,
alpha=pi/2,
qlim=[-400*deg, 400*deg]
),
rtb.RevoluteDH(
d=0,
a=0,
alpha=pi/2,
offset=pi,
qlim=[-125*deg, 120*deg]
),
rtb.RevoluteDH(
d=0.135,
a=0,
alpha=0,
qlim=[-400*deg, 400*deg]
)
]
super().__init__(
L,
name='IRB4600-40',
manufacturer='ABB'
)
self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0]))
self.addconfiguration("qd", np.array([0, -90 * deg, 180 * deg, 0, 0, -90 * deg]))
self.addconfiguration("qr", np.array([90 * deg, -108 * deg, 75 * deg, 0*deg, 135*deg, 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
L = [
rtb.RevoluteDH(
d=0.1625,
a=0,
alpha=pi/2,
qlim=[-2*pi, 2*pi]
),
rtb.RevoluteDH(
d=0,
a=-0.425,
alpha=0,
qlim=[-2*pi, 2*pi]
),
rtb.RevoluteDH(
d=0,
a=-0.3922,
alpha=0,
qlim=[-pi, pi]
),
rtb.RevoluteDH(
d=0.1333,
a=0,
alpha=pi/2,
qlim=[-2*pi, 2*pi]
),
rtb.RevoluteDH(
d=0.0997,
a=0,
alpha=-pi/2,
qlim=[-2*pi, 2*pi]
),
rtb.RevoluteDH(
d=0.0996,
a=0,
alpha=0,
qlim=[-2*pi, 2*pi]
)
]
super().__init__(
L,
name='UR10',
manufacturer='Universal Robotics'
)
self.addconfiguration(
"qz", np.array([0, 0, 0, 0, 0, 0]))
self.addconfiguration(
"qr", np.array([np.pi, 0, 0, 0, np.pi / 2, 0]))
