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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of S4ABB2p8</title> <meta name="keywords" content="S4ABB2p8"> <meta name="description" content="S4ABB2p8 Load kinematic data for an ABB S4 2.8robot"> <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1"> <meta name="generator" content="m2html © 2003 Guillaume Flandin"> <meta name="robots" content="index, follow"> <link type="text/css" rel="stylesheet" href="./m2html.css"></head><body><a name="_top"></a><div><a href="./index.html">Home</a> > <a href="index.html">.</a> > S4ABB2p8.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png"> Master index</a></td><td align="right"><a href="index.html">Index for . <img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>S4ABB2p8</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>S4ABB2p8 Load kinematic data for an ABB S4 2.8robot</strong></div><h2><a name="_synopsis"></a>SYNOPSIS <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>This is a script file. </strong></div><h2><a name="_description"></a>DESCRIPTION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre class="comment"> S4ABB2p8 Load kinematic data for an ABB S4 2.8robot S4ABB2p8 Defines the object 'R' in the current workspace which describes the kinematic characterstics of an ABB S4 2.8 robot using standard DH conventions. Also define the vector q0 which corresponds to mastering position.Wynand SwartMega Robots CC, P/O Box 8412, Pretoria, 0001, South AfricaCell: 073-1555-430wynand.swart@gmail.com30 Sep 2007S4 ABB 2.8 robot</pre></div><!-- crossreference --><h2><a name="_cross"></a>CROSS-REFERENCE INFORMATION <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2>This function calls:<ul style="list-style-image:url(./matlabicon.gif)"></ul>This function is called by:<ul style="list-style-image:url(./matlabicon.gif)"></ul><!-- crossreference --><h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="fragment"><pre>0001 <span class="comment">% S4ABB2p8 Load kinematic data for an ABB S4 2.8robot</span>0002 <span class="comment">%</span>0003 <span class="comment">% S4ABB2p8</span>0004 <span class="comment">%</span>0005 <span class="comment">% Defines the object 'R' in the current workspace which describes the</span>0006 <span class="comment">% kinematic characterstics of an ABB S4 2.8 robot</span>0007 <span class="comment">% using standard DH conventions.</span>0008 <span class="comment">%</span>0009 <span class="comment">% Also define the vector q0 which corresponds to mastering position.</span>0010 <span class="comment">%</span>0011 <span class="comment">%Wynand Swart</span>0012 <span class="comment">%Mega Robots CC, P/O Box 8412, Pretoria, 0001, South Africa</span>0013 <span class="comment">%Cell: 073-1555-430</span>0014 <span class="comment">%wynand.swart@gmail.com</span>0015 <span class="comment">%30 Sep 2007</span>0016 <span class="comment">%S4 ABB 2.8 robot</span>0017 0018 L1 = link([ -pi/2 0.188 0 0.9 0]);0019 L2 = link([ 0 0.95 0 0 0]);0020 L3 = link([ -pi/2 0.225 0 0 0]);0021 L4 = link([ pi/2 0 0 1.705 0]);0022 L5 = link([ -pi/2 0 0 0 0]);0023 L6 = link([ -pi/2 0 0 0.2 0]);0024 <span class="comment">%##########################################################</span>0025 <span class="comment">%Pose 0; At SYNCHRONISATION position</span>0026 <span class="comment">%##########################################################</span>0027 q0 = [0 -pi/2 0 0 0 -pi/2];0028 R=robot({L1 L2 L3 L4 L5 L6});0029 R.name=<span class="string">'S4 ABB 2.8'</span>;0030 <span class="comment">%##########################################################</span></pre></div><hr><address>Generated on Sun 15-Feb-2009 18:09:29 by <strong><a href="http://www.artefact.tk/software/matlab/m2html/">m2html</a></strong> © 2003</address></body></html>⌨️ 快捷键说明
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