Go to the documentation of this file. 1 % Four 6R Serial chain The Staubli-RX60 robots moving a large object.
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
41 body "bodies/b1.off" color (0.6,0.6,0.6)
42 body "bodies/box.off" blue
43 body "bodies/bar1.off"
44 body "bodies/bar2.off"
45 body "bodies/bar3.off"
46 body "bodies/bar4.off"
47 body "bodies/plane.off" color (0.8,0.8,0.8) decoration
48 cylinder 0.12 (0,0,0.0+ZLower+0.25) (0,0,0.25+ZLower+0.25) blue
49 sphere 0.12 (0,0,0.25+ZLower+0.25) blue
51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
52 base_left: body "bodies/S0_rel.off" color (cr,cg,cb)
54 link1_left: color (cr,cg,cb)
55 body "bodies/S1_rel.off"
56 body "bodies/S2_rel.off"
58 link2_left: color (cr,cg,cb)
59 body "bodies/S3_rel.off"
61 link3_left: color (cr,cg,cb)
62 body "bodies/S4_rel.off"
64 link4_left: body "bodies/S5_rel.off" color (cr,cg,cb)
65 body "bodies/S6_rel.off" color (0.75,0.75,0.75)
67 link5_left: color (0.75,0.75,0.75)
68 body "bodies/S7_rel.off"
70 EndEffector_left: color (0.75,0.75,0.75)
71 body "bodies/S8_rel.off"
74 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
75 base_right: body "bodies/S0_rel.off" color (cr,cg,cb)
77 link1_right: color (cr,cg,cb)
78 body "bodies/S1_rel.off"
79 body "bodies/S2_rel.off"
81 link2_right: color (cr,cg,cb)
82 body "bodies/S3_rel.off"
84 link3_right: color (cr,cg,cb)
85 body "bodies/S4_rel.off"
87 link4_right: body "bodies/S5_rel.off" color (cr,cg,cb)
88 body "bodies/S6_rel.off" color (0.75,0.75,0.75)
90 link5_right: color (0.75,0.75,0.75)
91 body "bodies/S7_rel.off"
93 EndEffector_right: color (0.75,0.75,0.75)
94 body "bodies/S8_rel.off"
97 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
98 base_front: body "bodies/S0_rel.off" color (cr,cg,cb)
100 link1_front: color (cr,cg,cb)
101 body "bodies/S1_rel.off"
102 body "bodies/S2_rel.off"
104 link2_front: color (cr,cg,cb)
105 body "bodies/S3_rel.off"
107 link3_front: color (cr,cg,cb)
108 body "bodies/S4_rel.off"
110 link4_front: body "bodies/S5_rel.off" color (cr,cg,cb)
111 body "bodies/S6_rel.off" color (0.75,0.75,0.75)
113 link5_front: color (0.75,0.75,0.75)
114 body "bodies/S7_rel.off"
116 EndEffector_front: color (0.75,0.75,0.75)
117 body "bodies/S8_rel.off"
119 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
121 base_back: body "bodies/S0_rel.off" color (cr,cg,cb)
123 link1_back: color (cr,cg,cb)
124 body "bodies/S1_rel.off"
125 body "bodies/S2_rel.off"
127 link2_back: color (cr,cg,cb)
128 body "bodies/S3_rel.off"
130 link3_back: color (cr,cg,cb)
131 body "bodies/S4_rel.off"
133 link4_back: body "bodies/S5_rel.off" color (cr,cg,cb)
134 body "bodies/S6_rel.off" color (0.75,0.75,0.75)
136 link5_back: color (0.75,0.75,0.75)
137 body "bodies/S7_rel.off"
139 EndEffector_back: color (0.75,0.75,0.75)
140 body "bodies/S8_rel.off"
142 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
144 object: body "bodies/doubleRing4.off" green
148 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
150 fix: world base_left Tx(-robotDistance/2)
152 revolute: base_left (0,0,0) (0, 0,1)
153 link1_left (0,0,0) (0,-1,0)
155 revolute: link1_left ( 0,0,0) ( 0,0,1)
156 link2_left (-a2,0,0) (-a2,0,1)
158 revolute: link2_left (0,0, 0) (0,0, 1)
159 link3_left (0,d3,0) (0,d3+1,0)
161 revolute: link3_left (0,0, 0) (0, 0, 1)
162 link4_left (0,d4,0) (0,d4-1,0)
164 revolute: link4_left (0,0,0) (0, 0,1)
165 link5_left (0,0,0) (0,-1,0)
167 revolute: link5_left (0,0,0) (0,0,1)
168 EndEffector_left (0,0,0) (0,0,1)
170 fix: EndEffector_left object Tz(0.55)*Rx(Pi/2)*Tz(-0.03)
172 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
174 fix: world base_right Rz(pi)*Tx(-robotDistance/2)
176 revolute: base_right (0,0,0) (0, 0,1)
177 link1_right (0,0,0) (0,-1,0)
179 revolute: link1_right ( 0,0,0) ( 0,0,1)
180 link2_right (-a2,0,0) (-a2,0,1)
182 revolute: link2_right (0,0, 0) (0,0, 1)
183 link3_right (0,d3,0) (0,d3+1,0)
185 revolute: link3_right (0,0, 0) (0, 0, 1)
186 link4_right (0,d4,0) (0,d4-1,0)
188 revolute: link4_right (0,0,0) (0, 0,1)
189 link5_right (0,0,0) (0,-1,0)
191 revolute: link5_right (0,0,0) (0,0,1)
192 EndEffector_right (0,0,0) (0,0,1)
194 fix: EndEffector_right object Tz(0.36+objectLength)*Rx(-Pi/2)*Tz(-0.03)
196 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
198 fix: world base_front Ty(-robotDistance/2)
200 revolute: base_front (0,0,0) (0, 0,1)
201 link1_front (0,0,0) (0,-1,0)
203 revolute: link1_front ( 0,0,0) ( 0,0,1)
204 link2_front (-a2,0,0) (-a2,0,1)
206 revolute: link2_front (0,0, 0) (0,0, 1)
207 link3_front (0,d3,0) (0,d3+1,0)
209 revolute: link3_front (0,0, 0) (0, 0, 1)
210 link4_front (0,d4,0) (0,d4-1,0)
212 revolute: link4_front (0,0,0) (0, 0,1)
213 link5_front (0,0,0) (0,-1,0)
215 revolute: link5_front (0,0,0) (0,0,1)
216 EndEffector_front (0,0,0) (0,0,1)
218 fix: EndEffector_front object Tz(0.36+objectLength)*Ry(Pi/2)*Tz(-0.03)
220 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
222 fix: world base_back Rz(pi)*Ty(-robotDistance/2)
224 revolute: base_back (0,0,0) (0, 0,1)
225 link1_back (0,0,0) (0,-1,0)
227 revolute: link1_back ( 0,0,0) ( 0,0,1)
228 link2_back (-a2,0,0) (-a2,0,1)
230 revolute: link2_back (0,0, 0) (0,0, 1)
231 link3_back (0,d3,0) (0,d3+1,0)
233 revolute: link3_back (0,0, 0) (0, 0, 1)
234 link4_back (0,d4,0) (0,d4-1,0)
236 revolute: link4_back (0,0,0) (0, 0,1)
237 link5_back (0,0,0) (0,-1,0)
239 revolute: link5_back (0,0,0) (0,0,1)
240 EndEffector_back (0,0,0) (0,0,1)
242 fix: EndEffector_back object Tz(0.36+objectLength)*Ry(-Pi/2)*Tz(-0.03)
244 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
251 check: link1_left, world
252 check: link2_left, world
253 check: link3_left, world
254 check: link4_left, world
255 check: link5_left, world
257 check: link1_right, world
258 check: link2_right, world
259 check: link3_right, world
260 check: link4_right, world
261 check: link5_right, world
263 check: link1_front, world
264 check: link2_front, world
265 check: link3_front, world
266 check: link4_front, world
267 check: link5_front, world
269 check: link1_back, world
270 check: link2_back, world
271 check: link3_back, world
272 check: link4_back, world
273 check: link5_back, world
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