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Added serveral Model files
DHFactor in progress (commented out)
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‎roboticstoolbox/DHFactor.py

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‎roboticstoolbox/models/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.robot.serial_link import *
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from roboticstoolbox.robot.Link import RevoluteDH
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from math import pi
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import numpy as np
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class Ball(SerialLink):
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# %MDL_BALL Create model of a ball manipulator
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# %
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# % MDL_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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# %
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# % MDL_BALL(N) as above but creates a manipulator with N joints.
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# %
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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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# %
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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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# %
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# % Notes::
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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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# % See also mdl_coil, SerialLink.
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#
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# % MODEL: generic, ball shape, hyper redundant, 50DOF, standard_DH
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#
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#
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# % Copyright (C) 1993-2017, by Peter I. Corke
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# %
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# % This file is part of The Robotics Toolbox for MATLAB (RTB).
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# %
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# % RTB is free software: you can redistribute it and/or modify
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# % it under the terms of the GNU Lesser General Public License as published by
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# % the Free Software Foundation, either version 3 of the License, or
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# % (at your option) any later version.
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# %
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# % RTB is distributed in the hope that it will be useful,
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# % but WITHOUT ANY WARRANTY; without even the implied warranty of
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# % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# % GNU Lesser General Public License for more details.
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# %
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# % You should have received a copy of the GNU Leser General Public License
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# % along with RTB. If not, see <http://www.gnu.org/licenses/>.
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# %
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# % http://www.petercorke.com
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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(Link(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/Baxter.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.robot.serial_link import *
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from roboticstoolbox.robot.Link import RevoluteDH
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from math import pi
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import spatialmath.base as tr
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import numpy as np
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# %MDL_BAXTER Kinematic model of Baxter dual-arm robot
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# %
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# % MDL_BAXTER is a script that creates the workspace variables left and
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# % right which describes the kinematic characteristics of the two 7-joint
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# % arms of a Rethink Robotics Baxter robot 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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# % qr vertical 'READY' configuration
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# % qd lower arm horizontal as per data sheet
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# %
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# % Notes::
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# % - SI units of metres are used.
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# %
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# % References::
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# % "Kinematics Modeling and Experimental Verification of Baxter Robot"
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# % Z. Ju, C. Yang, H. Ma, Chinese Control Conf, 2015.
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# %
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# % See also mdl_nao, SerialLink.
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#
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# % Copyright (C) 1993-2017, by Peter I. Corke
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# %
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# % This file is part of The Robotics Toolbox for MATLAB (RTB).
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# %
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# % RTB is free software: you can redistribute it and/or modify
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# % it under the terms of the GNU Lesser General Public License as published by
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# % the Free Software Foundation, either version 3 of the License, or
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# % (at your option) any later version.
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# %
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# % RTB is distributed in the hope that it will be useful,
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# % but WITHOUT ANY WARRANTY; without even the implied warranty of
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# % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# % GNU Lesser General Public License for more details.
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# %
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# % You should have received a copy of the GNU Leser General Public License
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# % along with RTB. If not, see <http://www.gnu.org/licenses/>.
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# %
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# % http://www.petercorke.com
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#
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#
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# % MODEL: Baxter, Rethink Robotics, 7DOF, standard_DH
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L = [RevoluteDH(d=0.27, a=0.069, alpha=-pi/2),
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RevoluteDH(d=0, a=0, alpha=pi/2, offset=pi/2),
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RevoluteDH(d=0.102+0.262, a=0.069, alpha=-pi/2),
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RevoluteDH(d=0,a=0, alpha=pi/2),
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RevoluteDH(d=0.103+0.271,a=0.010, alpha=-pi/2),
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RevoluteDH(d=0,a=0, alpha=pi/2),
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RevoluteDH(d=0.28,a=0, alpha=0)]
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left = SerialLink(L, name='Baxter Left')
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Right = SerialLink(L, name='Baxter Right')
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# % 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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# % qstretch arm is stretched out in the X direction
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# % qn arm is at a nominal non-singular configuration
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qz = [0, 0, 0, 0, 0, 0, 0] # zero angles, L shaped pose
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qr = [0, -pi/2, -pi/2, 0, 0, 0, 0] # ready pose, arm up
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qs = [0, 0, -pi/2, 0, 0, 0, 0]
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qn = [0, pi/4, pi/2, 0, pi/4, 0, 0]

‎roboticstoolbox/models/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.robot.serial_link import *
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from roboticstoolbox.robot.Link import RevoluteDH
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from math import pi
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import numpy as np
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class Cobra600(SerialLink):
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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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#
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# % Copyright (C) 1993-2017, by Peter I. Corke
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# %
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# % This file is part of The Robotics Toolbox for MATLAB (RTB).
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# %
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# % RTB is free software: you can redistribute it and/or modify
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# % it under the terms of the GNU Lesser General Public License as published by
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# % the Free Software Foundation, either version 3 of the License, or
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# % (at your option) any later version.
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# %
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# % RTB is distributed in the hope that it will be useful,
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# % but WITHOUT ANY WARRANTY; without even the implied warranty of
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# % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# % GNU Lesser General Public License for more details.
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# %
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# % You should have received a copy of the GNU Leser General Public License
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# % along with RTB. If not, see <http://www.gnu.org/licenses/>.
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# %
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# % http://www.petercorke.com
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#
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# % MODEL: Adept, Cobra600, 4DOF, standard_DH
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#
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# % hardstop limits included
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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/Fanuc10L.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.robot.serial_link import *
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from roboticstoolbox.robot.Link import RevoluteDH
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from math import pi
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import numpy as np
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# %MDL_FANUC10L Create kinematic model of Fanuc AM120iB/10L robot
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# %
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# % MDL_FANUC10L is a script that creates the workspace variable R which
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# % describes the kinematic characteristics of a Fanuc AM120iB/10L robot
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# % using standard DH conventions.
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# %
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# % Also defines the workspace vector:
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# % q0 mastering position.
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# %
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# % Notes::
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# % - SI units of metres are used.
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# %
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# % Author::
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# % Wynand Swart,
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# % Mega Robots CC, P/O Box 8412, Pretoria, 0001, South Africa,
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# % wynand.swart@gmail.com
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# %
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# % See also mdl_irb140, mdl_m16, mdl_motomanHP6, mdl_puma560, SerialLink.
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#
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# % MODEL: Fanuc, AM120iB/10L, 6DOF, standard_DH
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#
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# % Copyright (C) 1993-2011, by Peter I. Corke
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# %
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# % This file is part of The Robotics Toolbox for Matlab (RTB).
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# %
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# % RTB is free software: you can redistribute it and/or modify
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# % it under the terms of the GNU Lesser General Public License as published by
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# % the Free Software Foundation, either version 3 of the License, or
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# % (at your option) any later version.
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# %
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# % RTB is distributed in the hope that it will be useful,
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# % but WITHOUT ANY WARRANTY; without even the implied warranty of
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# % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# % GNU Lesser General Public License for more details.
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# %
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# % You should have received a copy of the GNU Leser General Public License
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# % along with RTB. If not, see <http://www.gnu.org/licenses/>.
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#
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# %Cell: 073-1555-430
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# %30 Sep 2007
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# %Fanuc AM120iB/10L robot
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L1 = Link(a=0.15, alpha=-pi/2)
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L2 = Link(a=0.77, alpha=pi)
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L3 = Link(a=0.1, alpha=-pi/2)
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L4 = Link(d=-0.96, alpha=pi/2)
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L5 = Link(a=0, alpha=-pi/2)
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L6 = Link(d=-0.1)
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L = [L1, L2, L3, L4, L5, L6]
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q0 = [0, -pi/2, 0, 0, 0, 0]
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R = SerialLink(L, 'name', 'Fanuc AM120iB/10L')

‎roboticstoolbox/models/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.robot.serial_link import *
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from roboticstoolbox.robot.Link import RevoluteDH
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from math import pi
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import numpy as np
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class KR5(SerialLink):
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# %MDL_KR5 Create model of Kuka KR5 manipulator
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# %
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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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# %
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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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# %
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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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# %
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# % Author::
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# % - Gautam Sinha,
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# % Indian Institute of Technology, Kanpur.
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# %
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# % See also mdl_irb140, mdl_fanuc10l, mdl_motomanHP6, mdl_S4ABB2p8, mdl_puma560, SerialLink.
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#
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# % MODEL: Kuka, KR5, 6DOF, standard_DH
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#
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# %mdl_KR5
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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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def __init__(self):
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deg = pi/180
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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

‎roboticstoolbox/models/meshes/KUKA/KR5_arc/link0.stl

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