1 % A 6R Serial chain The Staubli-RX60 robot.
5 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
11 % For puma-like manipulators only 3 of the DH parameters
13 % Here we give those relevant parameters
for the RX60 robot (in meters)
19 % Constants below are only relevant
for decoration
26 % For the frame around the robot workspace
42 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
43 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
44 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
63 body "bodies/b1.off" color (0.6,0.6,0.6)
65 body "bodies/plane.off" color (0.8,0.8,0.8) decoration
67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
69 base_left: body "bodies/S0_rel.off" color (cr,cg,cb)
71 link1_left: color (cr,cg,cb)
72 body "bodies/S1_rel.off"
73 body "bodies/S2_rel.off"
75 link2_left: color (cr,cg,cb)
76 body "bodies/S3_rel.off"
78 link3_left: color (cr,cg,cb)
79 body "bodies/S4_rel.off"
81 link4_left: body "bodies/S5_rel.off" color (cr,cg,cb)
82 body "bodies/S6_rel.off" color (0.75,0.75,0.75)
84 link5_left: color (0.75,0.75,0.75)
85 body "bodies/S7_rel.off"
87 EndEffector_left: color (0.75,0.75,0.75)
88 body "bodies/S8_rel.off"
91 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
93 base_right: body "bodies/S0_rel.off" color (cr,cg,cb)
95 link1_right: color (cr,cg,cb)
96 body "bodies/S1_rel.off"
97 body "bodies/S2_rel.off"
99 link2_right: color (cr,cg,cb)
100 body "bodies/S3_rel.off"
102 link3_right: color (cr,cg,cb)
103 body "bodies/S4_rel.off"
105 link4_right: body "bodies/S5_rel.off" color (cr,cg,cb)
106 body "bodies/S6_rel.off" color (0.75,0.75,0.75)
108 link5_right: color (0.75,0.75,0.75)
109 body "bodies/S7_rel.off"
111 EndEffector_right: color (0.75,0.75,0.75)
112 body "bodies/S8_rel.off"
114 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
116 object: cylinder objectRadius (0,0,0) (0,0,objectLength) blue
117 % body "bodies/
object" blue
119 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
120 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
121 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
125 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
127 fix: world base_left Tx(-robotDistance/2)
129 revolute: base_left (0,0,0) (0, 0,1)
130 link1_left (0,0,0) (0,-1,0)
132 revolute: link1_left ( 0,0,0) ( 0,0,1)
133 link2_left (-a2,0,0) (-a2,0,1)
135 revolute: link2_left (0,0, 0) (0,0, 1)
136 link3_left (0,d3,0) (0,d3+1,0)
138 revolute: link3_left (0,0, 0) (0, 0, 1)
139 link4_left (0,d4,0) (0,d4-1,0)
141 revolute: link4_left (0,0,0) (0, 0,1)
142 link5_left (0,0,0) (0,-1,0)
144 revolute: link5_left (0,0,0) (0,0,1)
145 EndEffector_left (0,0,0) (0,0,1)
147 fix: EndEffector_left
object Tz(0.065)
149 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
151 fix: world base_right Rz(pi)*Tx(-robotDistance/2)
153 revolute: base_right (0,0,0) (0, 0,1)
154 link1_right (0,0,0) (0,-1,0)
156 revolute: link1_right ( 0,0,0) ( 0,0,1)
157 link2_right (-a2,0,0) (-a2,0,1)
159 revolute: link2_right (0,0, 0) (0,0, 1)
160 link3_right (0,d3,0) (0,d3+1,0)
162 revolute: link3_right (0,0, 0) (0, 0, 1)
163 link4_right (0,d4,0) (0,d4-1,0)
165 revolute: link4_right (0,0,0) (0, 0,1)
166 link5_right (0,0,0) (0,-1,0)
168 revolute: link5_right (0,0,0) (0,0,1)
169 EndEffector_right (0,0,0) (0,0,1)
171 fix: EndEffector_right
object Ry(pi)*Tz(-0.065-objectLength)
173 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
176 % fix: world
object Txyz(-objectLength/2, 0.2,0.05)*Ry(pi/2)
179 % fix: world
object Txyz(-objectLength/2,-0.2,0.05)*Ry(pi/2)
182 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
183 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
184 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Follow us!