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* 'master' of https://github.com/petercorke/robotics-toolbox-python: Updated DH models
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‎roboticstoolbox/models/DH/Ball.py

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"""
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@author: Peter Corke
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@author: Samuel Drew
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"""
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from roboticstoolbox import DHRobot, RevoluteDH
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from math import pi
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import numpy as np
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class Ball(DHRobot):
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'''
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reate model of a ball manipulator
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Ball() creates the workspace variable ball which describes the
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kinematic characteristics of a serial link manipulator with 50 joints
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that folds into a ball shape.
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Ball(N) as above but creates a manipulator with N joints.
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Also define the workspace vectors:
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q joint angle vector for default ball configuration
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Reference:
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- "A divide and conquer articulated-body algorithm for parallel O(log(n))
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calculation of rigid body dynamics, Part 2",
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Int. J. Robotics Research, 18(9), pp 876-892.
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Notes:
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- Unlike most other model scripts this one is actually a function that
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behaves like a script and writes to the global workspace.
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'''
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def __init__(self, N=None):
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links = []
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self._qz = []
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if not N:
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N = 10
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self.N = N
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for i in range(self.N):
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links.append(RevoluteDH(a=0.1, alpha=pi/2))
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self._qz.append(self.fract(i+1))
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# and build a serial link manipulator
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super(Ball, self).__init__(links, name='ball')
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@property
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def qz(self):
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return self._qz
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def fract(self, i):
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theta1 = 1
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theta2 = -2/3
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out = i % 3
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if out < 1:
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f = self.fract(i/3)
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elif out < 2:
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f = theta1
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else:
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f = theta2
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return f

‎roboticstoolbox/models/DH/Cobra600.py

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"""
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@author: Peter Corke
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@author: Samuel Drew
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"""
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from roboticstoolbox import DHRobot, RevoluteDH, PrismaticDH
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from math import pi
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import numpy as np
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class Cobra600(DHRobot):
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# %MDL_COBRA600 Create model of Adept Cobra 600 manipulator
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# %
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# % MDL_COBRA600 is a script that creates the workspace variable c600 which
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# % describes the kinematic characteristics of the 4-axis Adept Cobra 600
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# % SCARA manipulator using standard DH conventions.
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# %
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# % Also define the workspace vectors:
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# % qz zero joint angle configuration
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# %
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# % Notes::
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# % - SI units are used.
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# %
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# % See also SerialRevolute, mdl_puma560akb, mdl_stanford.
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def __init__(self):
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deg = pi/180
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L = [RevoluteDH(d=0.387, a=0.325, qlim=[-50*deg, 50*deg]),
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RevoluteDH(a=0.275, alpha=pi, qlim=[-88*deg, 88*deg]),
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PrismaticDH(qlim=[0, 0.210]),
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RevoluteDH()]
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super(Cobra600, self).__init__(L, name='Cobra600', manufacturer='Adept')
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self._qz = [0, 0, 0, 0]
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@property
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def qz(self):
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return self._qz

‎roboticstoolbox/models/DH/Irb140.py

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"""
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@author: Peter Corke
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@author: Samuel Drew
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"""
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from roboticstoolbox import DHRobot, RevoluteDH, PrismaticDH
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from math import pi
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import numpy as np
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class Irb140(DHRobot):
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"""
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Irb140 Create model of ABB IRB 140 manipulator
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Irb140 is a script that creates the workspace variable irb140 which
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describes the kinematic characteristics of an ABB IRB 140 manipulator
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using standard DH conventions.
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Also define the workspace vectors:
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qz zero joint angle configuration
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qr vertical 'READY' configuration
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qd lower arm horizontal as per data sheet
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Reference::
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- "IRB 140 data sheet", ABB Robotics.
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- "Utilizing the Functional Work Space Evaluation Tool for Assessing a
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System Design and Reconfiguration Alternatives"
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A. Djuric and R. J. Urbanic
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Notes::
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- SI units of metres are used.
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- Unlike most other mdl_xxx scripts this one is actually a function that
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behaves like a script and writes to the global workspace.
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"""
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def __init__(self):
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deg = pi/180
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# robot length values (metres)
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d1 = 0.352
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a1 = 0.070
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a2 = 0.360
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d4 = 0.380
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d6 = 0.065
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# Create Links
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L1 = RevoluteDH(
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theta=0,
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d=d1,
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a=a1,
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alpha=-pi/2,
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m=34655.36e-3,
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r=np.array([27.87, 43.12, -89.03])*1e-3,
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I=np.array([512052539.74, 1361335.88, 51305020.72,
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1361335.88, 464074688.59, 70335556.04,
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51305020.72, 70335556.04, 462745526.12])*1e-9
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L2 = RevoluteDH(
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theta=0,
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d=0,
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a=a2,
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alpha=0,
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m=15994.59e-3,
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r=np.array([198.29, 9.73, 92.43])*1e03,
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I=np.array([94817914.40, -3859712.77, 37932017.01,
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-3859712.77, 328604163.24, -1088970.86,
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37932017.01, -1088970.86, 277463004.88])*1e-9
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)
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L3 = RevoluteDH(
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theta=0,
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d=0,
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a=0,
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alpha=pi/2,
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m=20862.05e-3,
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r=np.array([-4.56, -79.96, -5.86]),
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I=np.array([500060915.95, -1863252.17, 934875.78,
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-1863252.17, 75152670.69, -15204130.09,
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934875.78, -15204130.09, 515424754.34])*1e-9,
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)
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L4 = RevoluteDH(
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theta=0,
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d=d4,
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a=0,
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alpha=-pi/2
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)
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L5 = RevoluteDH(
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theta=0,
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d=0,
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a=0,
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alpha=pi/2
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)
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L6 = RevoluteDH(
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theta=0,
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d=d6,
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a=0,
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alpha=pi/2
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)
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L = [L1, L2, L3, L4, L5, L6]
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self._qz = np.array([0, 0, 0, 0, 0, 0])
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self._qd = np.array([0, -90*deg, 180*deg, 0, 0, -90*deg])
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self._qr = np.array([0, -90*deg, 90*deg, 0, 90*deg, -90*deg])
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super(Irb140, self).__init__(
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L,
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basemesh="ABB/IRB140/link0.stl",
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name='IRB 140',
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manufacturer='ABB')
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@property
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def qz(self):
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return self._qz
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@property
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def qr(self):
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return self._qr
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@property
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def qd(self):
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return self._qd

‎roboticstoolbox/models/DH/KR5.py

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"""
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@author: Peter Corke
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@author: Samuel Drew
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"""
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from roboticstoolbox import DHRobot, RevoluteDH
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from math import pi
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class KR5(DHRobot):
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'''
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KR5 Create model of Kuka KR5 manipulator
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MDL_KR5 is a script that creates the workspace variable KR5 which
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describes the kinematic characteristics of a Kuka KR5 manipulator using
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standard DH conventions.
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Also define the workspace vectors:
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qk1 nominal working position 1
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qk2 nominal working position 2
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qk3 nominal working position 3
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Notes::
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- SI units of metres are used.
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- Includes an 11.5cm tool in the z-direction
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Author::
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- Gautam Sinha,
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Indian Institute of Technology, Kanpur.
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Define simplest line model for KUKA KR5 robot
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Contain DH parameters for KUKA KR5 robot
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All link lenghts and offsets are measured in cm
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'''
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def __init__(self):
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L1 = RevoluteDH(a=0.18, d=0.4,
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alpha=pi/2,
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mesh='KUKA/KR5_arc/link1.stl')
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L2 = RevoluteDH(a=0.6, d=0.135,
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alpha=pi,
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mesh='KUKA/KR5_arc/link2.stl')
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L3 = RevoluteDH(a=0.12,
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d=0.135,
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alpha=-pi/2,
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mesh='KUKA/KR5_arc/link3.stl')
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L4 = RevoluteDH(a=0.0,
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d=0.62,
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alpha=pi/2,
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mesh='KUKA/KR5_arc/link4.stl')
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L5 = RevoluteDH(a=0.0,
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d=0.0,
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alpha=-pi/2,
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mesh='KUKA/KR5_arc/link5.stl')
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L6 = RevoluteDH(mesh='KUKA/KR5_arc/link6.stl')
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L = [L1, L2, L3, L4, L5, L6]
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self._qz = [0, 0, 0, 0, 0, 0]
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self._qk1 = [pi/4, pi/3, pi/4, pi/6, pi/4, pi/6]
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self._qk2 = [pi/4, pi/3, pi/6, pi/3, pi/4, pi/6]
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self._qk3 = [pi/6, pi/3, pi/6, pi/3, pi/6, pi/3]
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# Create SerialLink object
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super(KR5, self).__init__(
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L,
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basemesh="KUKA/KR5_arc/link0.stl",
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name='KR5',
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manufacturer='KUKA')
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@property
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def qz(self):
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return self._qz
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@property
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def qk1(self):
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return self._qk1
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@property
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def qk2(self):
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return self._qk2
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@property
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def qk3(self):
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return self._qk3

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