stanford.html
来自「Robot tool box - provides many functions」· HTML 代码 · 共 112 行
HTML
112 行
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd"><html><head> <title>Description of stanford</title> <meta name="keywords" content="stanford"> <meta name="description" content="STANFORD Load kinematic and dynamic data for Stanford arm"> <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> > stanford.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>stanford</h1><h2><a name="_name"></a>PURPOSE <a href="#_top"><img alt="^" border="0" src="./up.png"></a></h2><div class="box"><strong>STANFORD Load kinematic and dynamic data for Stanford arm</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">STANFORD Load kinematic and dynamic data for Stanford arm Defines the object 'stanford' in the current workspace which describes the kinematic and dynamic characterstics of the Stanford (Scheinman) arm. Kinematic data from "Modelling, Trajectory calculation and Servoing of a computer controlled arm". Stanford AIM-177. Figure 2.3 Dynamic data from "Robot manipulators: mathematics, programming and control" Paul 1981, Tables 6.4, 6.6 Note: gear ratios not currently known, though reflected armature inertia is known, so gear ratios set to 1. Also define the vector qz which corresponds to the zero joint angle configuration. See also: ROBOT, <a href="puma560.html" class="code" title="">PUMA560</a>, <a href="puma560akb.html" class="code" title="">PUMA560AKB</a>, <a href="twolink.html" class="code" title="">TWOLINK</a>.</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">%STANFORD Load kinematic and dynamic data for Stanford arm</span>0002 <span class="comment">%</span>0003 <span class="comment">% Defines the object 'stanford' in the current workspace which describes the</span>0004 <span class="comment">% kinematic and dynamic characterstics of the Stanford (Scheinman) arm.</span>0005 <span class="comment">%</span>0006 <span class="comment">% Kinematic data from "Modelling, Trajectory calculation and Servoing of</span>0007 <span class="comment">% a computer controlled arm". Stanford AIM-177. Figure 2.3</span>0008 <span class="comment">% Dynamic data from "Robot manipulators: mathematics, programming and control"</span>0009 <span class="comment">% Paul 1981, Tables 6.4, 6.6</span>0010 <span class="comment">%</span>0011 <span class="comment">% Note: gear ratios not currently known, though reflected armature inertia</span>0012 <span class="comment">% is known, so gear ratios set to 1.</span>0013 <span class="comment">%</span>0014 <span class="comment">% Also define the vector qz which corresponds to the zero joint</span>0015 <span class="comment">% angle configuration.</span>0016 <span class="comment">%</span>0017 <span class="comment">% See also: ROBOT, PUMA560, PUMA560AKB, TWOLINK.</span>0018 0019 <span class="comment">% Copyright (C) 1990-2008, by Peter I. Corke</span>0020 <span class="comment">%</span>0021 <span class="comment">% This file is part of The Robotics Toolbox for Matlab (RTB).</span>0022 <span class="comment">%</span>0023 <span class="comment">% RTB is free software: you can redistribute it and/or modify</span>0024 <span class="comment">% it under the terms of the GNU Lesser General Public License as published by</span>0025 <span class="comment">% the Free Software Foundation, either version 3 of the License, or</span>0026 <span class="comment">% (at your option) any later version.</span>0027 <span class="comment">%</span>0028 <span class="comment">% RTB is distributed in the hope that it will be useful,</span>0029 <span class="comment">% but WITHOUT ANY WARRANTY; without even the implied warranty of</span>0030 <span class="comment">% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>0031 <span class="comment">% GNU Lesser General Public License for more details.</span>0032 <span class="comment">%</span>0033 <span class="comment">% You should have received a copy of the GNU Leser General Public License</span>0034 <span class="comment">% along with RTB. If not, see <http://www.gnu.org/licenses/>.</span>0035 0036 <span class="comment">% alpha A theta D sigma m rx ry rz Ixx Iyy Izz Ixy Iyz Ixz Jm G</span>0037 stanford_dyn = [0038 -pi/2 0 0 0.412 0 9.29 0 .0175 -0.1105 0.276 0.255 0.071 0 0 0 0.953 10039 pi/2 0 0 0.154 0 5.01 0 -1.054 0 0.108 0.018 0.100 0 0 0 2.193 1 0040 0 0 -pi/2 0 1 4.25 0 0 -6.447 2.51 2.51 0.006 0 0 0 0.782 10041 -pi/2 0 0 0 0 1.08 0 0.092 -0.054 0.002 0.001 0.001 0 0 0 0.106 10042 pi/2 0 0 0 0 0.63 0 0 0.566 0.003 0.003 0.0004 0 0 0 0.097 10043 0 0 0 0.263 0 0.51 0 0 1.554 0.013 0.013 0.0003 0 0 0 0.020 10044 ];0045 0046 qz = [0 0 0 0 0 0];0047 0048 stanf = robot(stanford_dyn);0049 stanf.plotopt = {<span class="string">'workspace'</span>, [-2 2 -2 2 -2 2]};0050 stanf.name = <span class="string">'Stanford arm'</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
复制代码Ctrl + C
搜索代码Ctrl + F
全屏模式F11
增大字号Ctrl + =
减小字号Ctrl + -
显示快捷键?