Serial6RRX60.world File Reference

Detailed Description

[Introduction] [Geometry] [Process] [Statistics] [Results]

Introduction

This file is an example of how to model real robots in the CuikSuite. The Staubli RX60.

Geometry

Denavit-Hartenberg parameters (in meters) for these parameters are:

i $a_i$ $d_i$ $\alpha_i$ Interpretation
1 0 0 $\pi/4$
2 0.29 0 0
3 0 0.049 $\pi/4$
4 0.31 0 $-\pi/4$
5 0 0 $\pi/4$

The Denavit-Hartenberg parameters for this robot can be easily interpreted with the help of this figure

To match this figure with the formulation, take into account that in the formulation Solid0 is the base link and Solid6 is the EndEfector.

The parameters in the table do not specify the loop closure that must be defined for each problem.

Note that the range limitations of the RX60 are not introduced in this formulation (althoug it is easy to do it).

Process

This example is treated following these steps (from the main CuikSuite folder):

  • Generate the equations: Execute
  • Solve the positional analysis problem: Execute
    • bin/cuik examples/Serial6R/Serial6RRX60
  • Visualize the solutions:

Statistics

Characteristics of the problem:

Nr. of indep. loops 1
Nr. of links 6
Nr. of joints 6
Nr. of equations (in the simplified system) 15
Nr. of variables (in the simplified system) 15

Here you have the statistics about the execution (on an Intel Core i7 at 2.9 Ghz).

Nr. of Empty boxes 60
Nr. of Solution boxes 8
Execution time (s) 20

Results

This is one of the configurations got with the instructions previously given:

Todo:
Introduce the range limitations for each one of the degrees of freedom of the Staubli RX60.

Definition in file Serial6RRX60.world.