-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathUR5.m
266 lines (217 loc) · 8 KB
/
UR5.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
%% parametri DH [theta d a alpha sigma(0 rotoidale 1 prismatico)]
close all
clear all
syms th1 th2 th3 th4 th5 th6
%%
d1=0.089459; d2=0; d3=0; d4=0.10915; d5=0.09465; d6=0.0823;
a1=0; a2=-0.42500; a3=-0.39225; a4=0; a5=0; a6=0;
alpha1=pi/2; alpha2= 0; alpha3=0; alpha4=pi/2; alpha5=-pi/2; alpha6=0;
%[THETA D A ALPHA SIGMA]
linkSym(1) = Link([0 d1 a1 alpha1 0]); %dimensioni in metri
linkSym(1).m=3.7;
linkSym(1).r=[0,-0.02561, 0.00193];
linkSym(1).G=1;
linkSym(1).I=[0.0084 0 0; 0 0.0064 0; 0 0 0.0084];
linkSym(2) = Link([0 d2 a2 alpha2 0]);
linkSym(2).m=8.3930;
linkSym(2).r=[0.2125, 0, 0.11336];
linkSym(2).G=1;
linkSym(2).I=[0.0078 0 0; 0 0.2100 0; 0 0 0.2100];
linkSym(3) = Link([0 d3 a3 alpha3 0]);
linkSym(3).m=2.33;
linkSym(3).r=[0.15, 0, 0.0265];
linkSym(3).G=1;
linkSym(3).I=[0.0016 0 0; 0 0.0462 0; 0 0 0.0462];
linkSym(4) = Link([0 d4 a4 alpha4 0]);
linkSym(4).m=1.219;
linkSym(4).r=[0, -0.0018, 0.01634];
linkSym(4).G=1;
linkSym(4).I=[0.0016 0 0; 0 0.0016 0; 0 0 0.0009];
linkSym(5) = Link([0 d5 a5 alpha5 0]);
linkSym(5).m= 1.219;
linkSym(5).r=[0, -0.0018, 0.01634];
linkSym(5).G=1;
linkSym(5).I= [0.0016 0 0; 0 0.0016 0; 0 0 0.0009];
linkSym(6) = Link([0 d6 a6 alpha6 0]);
linkSym(6).m= 0.1897;
linkSym(6).r=[0, 0, -0.001159];
linkSym(6).G=1;
linkSym(6).I= [0.0001 0 0; 0 0.0001 0; 0 0 0.0001];
%robotSym = SerialLink(linkSym,'name','Gimbal');
UR5 = SerialLink(linkSym,'name','UR5','qlim',[0 pi;0 pi;0 pi;0 pi;0 pi;0 pi]);
UR5.payload(5,[0,0,0.1]) % carico massimo (tutte le possibili telecamere)
%A=zeros(1,length(linkSym));
base=0;
UR5.base=transl([0 0 base]);
%robotSym.tool=troty(pi/2)
UR5.plot([0 0 0 0 0 0]),axis equal
%J=robotSym.jacobn([th1,th2]);
A=UR5.base*linkSym(1).A(th1)*linkSym(2).A(th2)*linkSym(3).A(th3)...
*linkSym(4).A(th4)*linkSym(5).A(th5)*linkSym(6).A(th6)*UR5.tool;
T=UR5.fkine([0,0,0,0,0,0]); %for initial position [100 35 100]
UR5.dyn(); %mass, centre of mass, inertia, gear ratio, motor inertia and motor friction
return
UR5.gravload([0,0,0,0,0,0])
return
%%
q=UR5.ikine(T,[(pi*100/180),(pi*35/180)],[0 0 0 1 1 0])
zmin=base;
zmax=base+a2;
xmin=a2+d2; xmax=-a1;
ymin=a1; ymax=a2+d2;
%%
% mass center at base configuration
mUR5=[3.7000, 8.3930, 2.33, 1.2190, 1.2190, 0.1897];
cdmUR5 = [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];
cmdLink{1}=[cdmUR5(1,1) -(cdmUR5(1,3)+d2) d1+cdmUR5(1,2)]
cmdLink{2}=[cdmUR5(2,1)-a2 -(cdmUR5(2,3)+d2+d3) d1+cdmUR5(2,2)]
cmdLink{3}=[cdmUR5(3,1)-a2-a3 -(cdmUR5(3,3)+d2+d3+d4) d1+cdmUR5(3,2)]
cmdLink{4}=[cdmUR5(4,1)-a2-a3-a4 -(cdmUR5(4,2)+d2+d3+d4) d1-cdmUR5(4,3)]
cmdLink{5}=[cdmUR5(5,1)-a2-a3-a4 -(cdmUR5(5,3)+d2+d3+d4) d1-d5+cdmUR5(5,2)]
cmdLink{6}=[cdmUR5(6,1)-a2-a3-a4+a6 -(cdmUR5(6,3)+d2+d3+d4+d6) d1-d5+cdmUR5(6,2)]
xm=0;ym=0;zm=0;
for i=1:1:6
xm=xm+cmdLink{i}(1)*mUR5(i);
ym=ym+cmdLink{i}(2)*mUR5(i);
zm=zm+cmdLink{i}(3)*mUR5(i);
end
xmass{1}=xm/sum(mUR5);
ymass{1}=ym/sum(mUR5);
zmass{1}=zm/sum(mUR5);
%mass center at max extension with variable payload
mUR5=[3.7000, 8.3930, 2.33, 1.2190, 1.2190, 0.1897];
cdmUR5 = [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];
cmdLink{1}=[cdmUR5(1,1) -(cdmUR5(1,3)+d2) d1+cdmUR5(1,2)]
cmdLink{2}=[cdmUR5(2,1)-a2 -(cdmUR5(2,3)+d2+d3) d1+cdmUR5(2,2)]
cmdLink{3}=[cdmUR5(3,1)-a2-a3 -(cdmUR5(3,3)+d2+d3+d4) d1+cdmUR5(3,2)]
cmdLink{4}=[cdmUR5(4,3)-a2-a3-a4 -(cdmUR5(4,2)+d2+d3+d4) d1+cdmUR5(4,1)]
cmdLink{5}=[d5-cdmUR5(5,2)-a2-a3-a4 -(cdmUR5(5,3)+d2+d3+d4) d1+cdmUR5(5,1)]
cmdLink{6}=[d5-cdmUR5(6,2)-a2-a3-a4 -(cdmUR5(6,3)+d2+d3+d4+d6) d1+a6+cdmUR5(6,1)]
xm=0;ym=0;zm=0;
endeffMass=[0 0.5 1 1.5 2 3 4 5];
for m=1:1:8
for i=1:1:6
if i==6
xm=xm+cmdLink{i}(1)*(mUR5(i)+endeffMass(m));
ym=ym+cmdLink{i}(2)*(mUR5(i)+endeffMass(m));
zm=zm+cmdLink{i}(3)*(mUR5(i)+endeffMass(m));
else
xm=xm+cmdLink{i}(1)*(mUR5(i));
ym=ym+cmdLink{i}(2)*(mUR5(i));
zm=zm+cmdLink{i}(3)*(mUR5(i));
end
end
xmass{1+m}=xm/(sum(mUR5)+endeffMass(m));
ymass{1+m}=ym/(sum(mUR5)+endeffMass(m));
zmass{1+m}=zm/(sum(mUR5)+endeffMass(m));
xm=0;ym=0;zm=0;
end
xm=0; ym=0; zm=0;
for i=1:1:9
xm(i)=xmass{i};
ym(i)=ymass{i};
zm(i)=zmass{i};
plot3(xm(i),ym(i),zm(i),'.','MarkerSize',i*7)
if ((i==4)||(i==5)||(i==6)||(i==7))
text(xm(i),ym(i),zm(i),num2str([xm(i); ym(i); zm(i)]),'FontSize',12)
end
hold on
end
legend('no load','no load','0.5 Kg','1 Kg','1.5','2 Kg','3 Kg','4 Kg','5 Kg')
xlabel('X axis')
ylabel('Y axis')
zlabel('Z axis')
grid on
return
%% parametri DH [theta d a alpha sigma(0 rotoidale 1 prismatico)]
close all
clear all
syms th1 th2 th3
%%
a1=0.002; %off1
d2=0.005; %off2 sbraccio
a2=0.06; %dlink
% lunghezza del vettore del triangolo
ltri=sqrt( ((d2+a2)^2)+(a1^2) );
linkSym(1) = Link([0 0 a1 pi/2 0]); %dimensioni in metri
linkSym(2) = Link([0 d2 a2 pi/2 0]);
%robotSym = SerialLink(linkSym,'name','Gimbal');
robotSym = SerialLink(linkSym,'name','Gimbal','qlim',[0 pi;0 pi]);
%A=zeros(1,length(linkSym));
base=0.045;
robotSym.base=transl([0 0 base]);
%robotSym.tool=troty(pi/2)
robotSym.plot([pi/4 pi/4]),axis equal
%[theta1 theta2 0 pi/2 theta3]
J=robotSym.jacobn([th1,th2]);
A=robotSym.base*linkSym(1).A(th1)*linkSym(2).A(th2)*robotSym.tool
T=robotSym.fkine([(pi*0/180),(pi*0/180)]) %for initial position [100 35 100]
q=robotSym.ikine(T,[(pi*100/180),(pi*35/180)],[0 0 0 1 1 0])
zmin=base;
zmax=base+a2;
xmin=a2+d2; xmax=-a1;
ymin=a1; ymax=a2+d2;
return
%% symbolic parametri DH [theta d a alpha sigma(0 rotoidale 1 prismatico)]
close all
clear all
% syms th1 th2 al1 al2 a1 a2 d1 d2
% linkSym(1) = Link([th1 d1 a1 al1 0]); %dimensioni in metri
% linkSym(2) = Link([th2 d2 a2 al2 0]);
syms th1 th2 a1 a2 d1 d2
linkSym(1) = Link([th1 d1 a1 pi/2 0]); %dimensioni in metri
linkSym(2) = Link([th2 d2 a2 0 0]);
robotSym = SerialLink(linkSym,'name','Gimbal','qlim',[0 pi;0 pi]);
robotSym.base=transl([0 0 0.045]);
robotSym.tool=troty(0.5)
A=robotSym.base*linkSym(1).A(th1)*linkSym(2).A(th2)*robotSym.tool
return
%% parametri DH [theta d a alpha sigma(0 rotoidale 1 prismatico)]
close all
clear all
syms th1 th2 th3
linkSym(1) = Link([0 0.06 0 pi/2 0]); %dimensioni in metri
linkSym(2) = Link([0 0 0.012 pi/2 0]); %dimensioni in metri
linkSym(3) = Link([0 -0.01 0.065 0 0]);
linkSym(4) = Link([0 0 0.01 pi/2 0]);
linkSym(5) = Link([0 0 0 0 0]);
%robotSym = SerialLink(linkSym,'name','Gimbal');
robotSym = SerialLink(linkSym,'name','Gimbal','qlim',[0 pi;0 pi;0 0;pi/2 pi/2;0 pi]);
%A=zeros(1,length(linkSym));
robotSym.plot([0 0 0 pi/2 0]),axis equal
%[theta1 theta2 0 pi/2 theta3]
J=robotSym.jacobn([th1,th2,0,pi/2,th3]);
T=robotSym.fkine([(pi*100/180),(pi*35/180),0,pi/2,(pi*100/180)]) %for initial position [100 35 100]
q=robotSym.ikine(T,[(pi*100/180),(pi*35/180),0,pi/2,(pi*100/180)],[1 1 1 0 0 0])
return
%%
%T=robotSym.fkine([th1,th2,0,pi/2,th3])
%q=robotSym.ikine(T,[th1,th2,0,pi/2,th3],[1 1 1 0 0 0])
T=robotSym.fkine([0,0,0,pi/2,0])
q=robotSym.ikine(T,[0 0 0 pi/2 0],[1 1 1 0 0 0])
T1=robotSym.fkine([pi/2,0,0,pi/2,0])
return
%% parametri DH [theta d a alpha sigma(0 rotoidale 1 prismatico)]
close all
clear all
linkSym(1) = Link([0 0 0.012 pi/2 0]); %dimensioni in metri
linkSym(2) = Link([0 -0.01 0.065 0 0]);
linkSym(3) = Link([0 0 0.01 pi/2 0]);
%linkSym(4) = Link([0 0 0 0 0]);
robotSym = SerialLink(linkSym,'name','Gimbal');
%A=zeros(1,length(linkSym));
robotSym.plot([0 0 pi/2]),axis equal
return
%% prova DH solo con 3 giunti
% parametri DH [theta d a alpha sigma(0 rotoidale 1 prismatico)]
close all
clear all
linkSym(1) = Link([0 0 0.012 -pi/2 0]); %dimensioni in metri
linkSym(2) = Link([0 -0.01 0.065 pi/2 0]);
linkSym(3) = Link([0 0 0.01 pi/2 0]);
%linkSym(4) = Link([0 0 0 0 0]);
robotSym = SerialLink(linkSym,'name','Gimbal');
%A=zeros(1,length(linkSym));
robotSym.plot([0 -pi/4 pi/4]),axis equal