Go to the documentation of this file. 1 % 6R Serial chain with one degree of freedom solution
6 %--------------------------------------------------------------------
8 %--------------------------------------------------------------------
31 % Pre-compute sin/cos of alpha_i
51 % For the representation
52 % radius of the cylinder/spheres used for rotations
55 % radius of the cylinder/spheres used for connecting rotations
61 cylinder rcc (0,0,0) (-0.5*0.75*d6,0,0)
62 sphere rcr (-0.5*0.75*d6,0,0)
63 cylinder rcr (-0.5*0.75*d6,0,0) (-0.5*d6,0,0)
65 cylinder rcc (0,0,0) (0,0,a1)
67 cylinder rcc (0,0,a1) (0.5*0.75*d1*c1,0.5*0.75*d1*s1,a1)
68 sphere rcr (0.5*0.75*d1*c1,0.5*0.75*d1*s1,a1)
69 cylinder rcr (0.5*0.75*d1*c1,0.5*0.75*d1*s1,a1) (0.5*1*d1*c1,0.5*1*d1*s1,a1)
72 cylinder rcr (-0.5*1*d1,0,0) (-0.5*0.75*d1,0,0)
73 sphere rcr (-0.5*0.75*d1,0,0)
74 cylinder rcc (-0.5*0.75*d1,0,0) (0,0,0)
76 cylinder rcc (0,0,0) (0.5*0.75*d2*c2,0.5*0.75*d2*s2,0)
77 sphere rcr (0.5*0.75*d2*c2,0.5*0.75*d2*s2,0)
78 cylinder rcr (0.5*0.75*d2*c2,0.5*0.75*d2*s2,0) (0.5*1*d2*c2,0.5*1*d2*s2,0)
81 cylinder rcr (-0.5*1*d2,0,0) (-0.5*0.75*d2,0,0)
82 sphere rcr (-0.5*0.75*d2,0,0)
83 cylinder rcc (-0.5*0.75*d2,0,0) (0,0,0)
85 cylinder rcc (0,0,0) (0.5*0.75*d3*c3,0.5*0.75*d3*s3,0)
86 sphere rcr (0.5*0.75*d3*c3,0.5*0.75*d3*s3,0)
87 cylinder rcr (0.5*0.75*d3*c3,0.5*0.75*d3*s3,0) (0.5*1*d3*c3,0.5*1*d3*s3,0)
90 cylinder rcc (0,0,0) (-0.5*0.75*d3,0,0)
91 sphere rcr (-0.5*0.75*d3,0,0)
92 cylinder rcr (-0.5*0.75*d3,0,0) (-0.5*d3,0,0)
94 cylinder rcc (0,0,0) (0,0,a4)
96 cylinder rcc (0,0,a4) (0.5*0.75*d4*c4,0.5*0.75*d4*s4,a4)
97 sphere rcr (0.5*0.75*d4*c4,0.5*0.75*d4*s4,a4)
98 cylinder rcr (0.5*0.75*d4*c4,0.5*0.75*d4*s4,a4) (0.5*1*d4*c4,0.5*1*d4*s4,a4)
101 cylinder rcr (-0.5*1*d4,0,0) (-0.5*0.75*d4,0,0)
102 sphere rcr (-0.5*0.75*d4,0,0)
103 cylinder rcc (-0.5*0.75*d4,0,0) (0,0,0)
105 cylinder rcc (0,0,0) (0.5*0.75*d5*c5,0.5*0.75*d5*s5,0)
106 sphere rcr (0.5*0.75*d5*c5,0.5*0.75*d5*s5,0)
107 cylinder rcr (0.5*0.75*d5*c5,0.5*0.75*d5*s5,0) (0.5*1*d5*c5,0.5*1*d5*s5,0)
110 cylinder rcr (-0.5*1*d5,0,0) (-0.5*0.75*d5,0,0)
111 sphere rcr (-0.5*0.75*d5,0,0)
112 cylinder rcc (-0.5*0.75*d5,0,0) (0,0,0)
114 cylinder rcc (0,0,0) (0.5*0.75*d6*c6,0.5*0.75*d6*s6,0)
115 sphere rcr (0.5*0.75*d6*c6,0.5*0.75*d6*s6,0)
116 cylinder rcr (0.5*0.75*d6*c6,0.5*0.75*d6*s6,0) (0.5*1*d6*c6,0.5*1*d6*s6,0)
120 revolute: link1 (-c1,-s1,a1) (d1*c1,d1*s1,a1)
121 link2 (-d1-1,0,0)(0,0,0)
123 revolute: link2 (-c2,-s2,a2) (d2*c2,d2*s2,a2)
124 link3 (-d2-1,0,0)(0,0,0)
126 revolute: link3 (-c3,-s3,a3) (d3*c3,d3*s3,a3)
127 link4 (-d3-1,0,0)(0,0,0)
129 revolute: link4 (-c4,-s4,a4) (d4*c4,d4*s4,a4)
130 link5 (-d4-1,0,0)(0,0,0)
132 revolute: link5 (-c5,-s5,a5) (d5*c5,d5*s5,a5)
133 link6 (-d5-1,0,0)(0,0,0)
135 revolute: link6 (-c6,-s6,a6) (d6*c6,d6*s6,a6)
136 link1 (-d6-1,0,0)(0,0,0)
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