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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 MotomanHP6</title>  <meta name="keywords" content="MotomanHP6">  <meta name="description" content="MotomanHP6  Load kinematic data for a Motoman HP6 manipulator">  <meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">  <meta name="generator" content="m2html &copy; 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> &gt;  <a href="index.html">.</a> &gt; MotomanHP6.m</div><!--<table width="100%"><tr><td align="left"><a href="./index.html"><img alt="<" border="0" src="./left.png">&nbsp;Master index</a></td><td align="right"><a href="index.html">Index for .&nbsp;<img alt=">" border="0" src="./right.png"></a></td></tr></table>--><h1>MotomanHP6</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>MotomanHP6  Load kinematic data for a Motoman HP6 manipulator</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">MotomanHP6  Load kinematic data for a Motoman HP6 manipulator    MotomanHP6 Defines the object 'R' in the current workspace which describes the  kinematic characterstics of a Motoman HP6 manipulator using standard DH conventions. Also define the vector q0 which corresponds to the zero position.Wynand SwartMega Robots CC, P/O Box 8412, Pretoria, 0001, South AfricaCell: 073-1555-430wynand.swart@gmail.com30 Sep 2007Motoman HP 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">%MotomanHP6  Load kinematic data for a Motoman HP6 manipulator</span>0002 <span class="comment">%</span>0003 <span class="comment">%    MotomanHP6</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 a Motoman HP6 manipulator</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 the zero 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">%Motoman HP robot</span>0017 0018 <span class="comment">%##########################################################</span>0019 L1 = link([ -pi/2   0.15     0   0            0]);0020 L2 = link([ -pi     0.57     0   0            0]);0021 L3 = link([ -pi/2   0.155    0   0            0]);0022 L4 = link([  pi/2   0        0   -0.635       0]);0023 L5 = link([ -pi/2   0        0   0            0]);0024 L6 = link([  pi     0        0  -0.095        0]);0025 <span class="comment">%##########################################################</span>0026 <span class="comment">%Pose 0; At ZERO position</span>0027 <span class="comment">%##########################################################</span>0028 q0 =[0   -pi/2   0   0   -pi/2   0];0029 R=robot({L1 L2 L3 L4 L5 L6});0030 R.name=<span class="string">'Motoman HP6'</span>;0031 <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> &copy; 2003</address></body></html>
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