Go to the documentation of this file. 1 % A 6R Serial chain The Staubli-RX60 robot.
7 % For puma-like manipulators only 3 of the DH parameters
9 % Here we give those relevant parameters for the RX60 robot (in meters)
15 % Constants below are only relevant for decoration
22 % For the frame around the robot workspace
35 cylinder barRadius (XLower,YLower,ZLower) (XLower,XLower,ZUpper)
36 sphere barRadius (XLower,YLower,ZUpper)
37 cylinder barRadius (XLower,YUpper,ZLower) (XLower,YUpper,ZUpper)
38 sphere barRadius (XLower,YUpper,ZUpper)
39 cylinder barRadius (XUpper,YLower,ZLower) (XUpper,YLower,ZUpper)
40 sphere barRadius (XUpper,YLower,ZUpper)
41 cylinder barRadius (XUpper,YUpper,ZLower) (XUpper,YUpper,ZUpper)
42 sphere barRadius (XUpper,YUpper,ZUpper)
43 cylinder barRadius (XLower,YLower,ZUpper) (XLower,YUpper,ZUpper)
44 cylinder barRadius (XLower,YLower,ZUpper) (XUpper,YLower,ZUpper)
45 cylinder barRadius (XUpper,YUpper,ZUpper) (XLower,YUpper,ZUpper)
46 cylinder barRadius (XUpper,YUpper,ZUpper) (XUpper,YLower,ZUpper)
48 body "bodies/b1.off" color (0.6,0.6,0.6)
50 body "bodies/plane.off" color (0.2,0.2,0.2)
51 body "bodies/S0_rel.off" color (cr,cg,cb)
53 link1: color (cr,cg,cb)
54 body "bodies/S1_rel.off"
55 body "bodies/S2_rel.off"
57 link2: color (cr,cg,cb)
58 body "bodies/S3_rel.off"
60 link3: color (cr,cg,cb)
61 body "bodies/S4_rel.off"
63 link4: body "bodies/S5_rel.off" color (cr,cg,cb)
64 body "bodies/S6_rel.off" color (0.75,0.75,0.75)
66 link5: color (0.75,0.75,0.75)
67 body "bodies/S7_rel.off"
69 EndEfector: color (0.75,0.75,0.75)
70 body "bodies/S8_rel.off"
74 revolute: base (0,0,0) (0, 0,1)
75 link1 (0,0,0) (0,-1,0)
77 revolute: link1 ( 0,0,0) ( 0,0,1)
78 link2 (-a2,0,0) (-a2,0,1)
80 revolute: link2 (0,0, 0) (0,0, 1)
81 link3 (0,d3,0) (0,d3+1,0)
83 revolute: link3 (0,0, 0) (0, 0, 1)
84 link4 (0,d4,0) (0,d4-1,0)
86 revolute: link4 (0,0,0) (0, 0,1)
87 link5 (0,0,0) (0,-1,0)
89 revolute: link5 (0,0,0) (0,0,1)
90 EndEfector (0,0,0) (0,0,1)
92 fix: base EndEfector Txyz(0.25,0.15,0.5)
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