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Contents.m
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% Copyright (C) 2012, by Arturo Gil Aparicio
%
% This file is part of ARTE (A Robotics Toolbox for Education).
%
% ARTE is free software: you can redistribute it and/or modify
% it under the terms of the GNU Lesser General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% ARTE is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Leser General Public License
% along with ARTE. If not, see <http://www.gnu.org/licenses/>.
%
% ARTE
% A Robotics Toolbox for Education
%
% Version 3.2.3
%
% DEMOS
% run demos to see all the demos
%
% demos/inversedynamics_2DOFplanar.m -inverse dynamics for the 2 DOF planar mechanism
% demos/inversedynamics_3DOFplanar.m -inverse dynamics for the 3 DOF planar mechanism
% demos/inversedynamics_puma560.m -inverse dynamics for the UNIMATE puma 560 manipulator
% demos/inversedynamics_stanford_arme.m -inverse dynamics for the STANFORD ARM
% demos/forwarddynamics_demo.m -direct dynamics for the UNIMATE puma 560 manipulator
% demos/kinematics_demo.m -direct and inverse kinematics demo for several robots.
%
%
% LIST OF ROBOT PROGRAMMING LANGUAGES
% RAPID - currently, only ABB RAPID is supported.
%
% LIST OF SUPPORTED ROBOTS
% EXAMPLE ROBOTS:
%
% MANUFACTURER MODEL Kinematics Dynamics 3D graphics
%
% ABB IRB 140 |YES| |NO| |YES|
% ABB IRB 6620 |YES| |NO| |YES|
% KUKA KR5 arc |YES| |NO| |YES|
% KUKA KR5 scara R350 Z200 |YES| |NO| |YES|
% KUKA KR5 sixx R650 |YES| |NO| |YES|
% KUKA KR5 sixx R850 |YES| |NO| |YES|
% KUKA KR90 R2700 pro |YES| |NO| |YES|
% MITSUBISHI PA-10 6DOF |YES| |YES| |YES|
% UNIMATE PUMA 560 |YES| |YES| |YES|
% -- STANFORD |YES| |YES| |NO|
% EXAMPLE SCARA |YES| |YES| |NO|
% EXAMPLE 2 DOF PLANAR |YES| |YES| |YES|
% EXAMPLE 3 DOF PLANAR |YES| |YES| |YES|
% EXAMPLE PRISMATIC |YES| |NO| |NO|
% LIST OF FUNCTIONS
% Please navigate to arte_lib/html/index.html to get a list of
% functions
%
% Files
% accel - [Qdd]= ACCEL(ROBOT, Q, Qd, TORQUE)
% adjust_view - ADJUST_VIEW(ROBOT)
% animate - ANIMATE(ROBOT, Q)
% call_direct_dynamics - qdd = call_direct_dynamics(input)
% compute_configuration - CONF= COMPUTE_CONFIGURATION(Q)
% compute_end_velocity - computes the velocity V of the end effector as a
% compute_jacobian - computes the conventional jacobian as a function
% compute_joint_trajectory_indep - [qt, qdt, qddt] = compute_joint_trajectory(q_ini, q_final, time_vector, qd_ini, qd_final)
% compute_joint_velocity - computes the velocity of the joint given the velocity
% deg2rad - rad = deg2rad(deg)
% demos - Copyright (C) 2012, by Arturo Gil Aparicio
% dh - DENAVIT Compute an homogeneous transform matrix DH in terms of
% direct_jacobian_demo - DIRECT JACOBIAN DEMO
% directkinematic - Direct Kinematic for serial robots.
% draw_axes - DRAW_AXES(T, X_text, Y_text, Z_text, scale)
% draw_circle - DRAW_CIRCLE(POS, RADIUS)
% draw_ellipse - DRAW_ELLIPSE(POS, COV, COLOR)
% draw_errors_scara - PROPAGATE A GAUSSIAN ERROR DISTRIBUTION OF EACH JOINT TO AN ERROR IN
% draw_errors_scara_monte_carlo - THE DEMO PRESENTS AN ERROR PROPAGATION USING A MONTE-CARLO METHOD
% draw_link - DRAW_LINK(ROBOT, I, T)
% draw_patch - DRAW_PATCH(F, V, C, transparent)
% drawrobot3d - DRAWROBOT3D(ROBOT, Q) 3D drawing with DH reference systems of the robot at the
% drawrobot3d_simulation - ROBOT=DRAWROBOT3D_simulation(ROBOT, Q)
% find_first_in_zone_data - index = find_first_in_zone_data(robot, q, T, radius)
% find_singular_points - LOOK FOR SINGULAR POINTS IN JOINT SPACE
% follow_line_pa10 - Copyright (C) 2012, by Arturo Gil Aparicio
% follow_line_scara - FOLLOW A LINE IN SPACE WITH A SCARA ROBOT
% forwarddynamic - [T Q QD]= FORWARDDYNAMIC(ROBOT, TIME_END, Q0, Qd0, TAU, torqfun, varargin)
% forwarddynamics_demo - SCRIPT TEST THE DIRECT DYNAMICS OF THE PUMA 560 ROBOT
% forwarddynamics_demo_3dof - SCRIPT TEST THE DIRECT DYNAMICS OF THE PUMA 560 ROBOT
% friction - Torque = FRICTION(ROBOT, QD, j)
% get_conf_data - Obtain joint configuration values from robtarget data type
% init_lib - init_lib: INITIALIZATION OF THE LIBRARY
% init_sim_variables - initializes the variables needed
% inversedynamic - TAU= INVERSEDYNAMIC: Compute inverse dynamics via recursive Newton-Euler
% inversedynamics_2DOFplanar - SCRIPT TEST FOR THE 2DOF arm
% inversedynamics_3DOFplanar - SCRIPT TEST FOR THE 3 DOF planar manipulator
% inversedynamics_puma560 - SCRIPT TO TEST THE DYNAMICS OF THE PUMA 560 ROBOT
% inversekinematic - Inverse kinematic for serial robots.
% joint_references - JOINT_REFERENCES
% kinematics_demo - SCRIPT TEST FOR THE KINEMATIC PROBLEM
% load_motors - Loads a matrix containing the mechanical and electrical data
% load_robot - Loads a data structure corresponding to the specified robot.
% manufacturing_demo - SCRIPT TO TEST THE GRAPHIC CAPABILITIES OF THE TOOLBOX: ROBOT IN A MANUFACTURING CELL
% motor_selection - SCRIPT TO FIND THE TORQUES AT EACH JOINT FOR DIFFERENT MOTION STATES OF
% MoveAbsJ - RAPID_WRAPPER: MoveAbsJ:
% MoveC - RAPID_WRAPPER: MoveC: Make a circular path in space.
% MoveJ - RAPID_WRAPPER: MoveJ:
% MoveL - RAPID_WRAPPER: MoveL: Make a linear planning in space
% normalize - Q = NORMALIZE(Q)
% obtain_joint_speed - compute joint speed according to speeddata variable
% obtain_linear_speed - compute linear end effector's speed according to speeddata variable
% obtain_zone_data - given a tag specifying the zone data. Return a radius in meters
% Offs - RAPID_WRAPPER: Offs(robot, robtarget, deltaX, deltaY, deltaZ, gripper, Wobj)
% planners_demo - DEMO: Path planning
% plot_every_robot_demo - SCRIPT TEST TO LOAD ALL ROBOTS
% plot_joint_data - PLOT_JOINT_DATA(robot)
% plot_results_line - PLOT_RESULTS_line
% program_robot - DEMO: Simulate a RAPID programming
% qprod - Q=QPROD(Q1, Q2)
% qRot - Q = QROT(THETA, AXIS)
% quaternion2T - T = quaternion2T(Q, P)
% rad2deg - transform radians to degrees
% read_graphics - ROBOT=READ_GRAPHICS(ROBOT)
% Reset - RAPID_WRAPPER: Reset:
% select_closest_configuration - Q=SELECT_CLOSEST_CONFIGURATION(ROBOT, Qinv, CONF)
% select_closest_joint_coordinates - Q=SELECT_CLOSEST_JOINT_COORDINATES(ROBOT, Qinv, Qcurrent)
% select_configuration - Q=SELECT_CONFIGURATION(ROBOT, Qinv, CONF)
% Set - RAPID_WRAPPER: Set:
% single_joint_spline - poly = spline(tacel, thetaini, thetafinal, velini, velfinal, acelini)
% solve_spherical_wrist - q = solve_spherical_wrist(robot, q, T, wrist)
% solve_spherical_wrist2 - q = solve_spherical_wrist(robot, q, T, wrist)
% spline - poly = spline(tacel, thetaini, thetafinal, velini, velfinal, acelini)
% spot_welding_demo - SCRIPT TO TEST THE GRAPHIC CAPABILITIES OF THE TOOLBOX: ROBOT IN A MANUFACTURING CELL
% stl_read - [F, V, C] = STL_READ(filename)
% synchronize - [velo2, tmax]= SINCHRONIZE(qini, qfinal, velocity) Finds a mean speed and the required
% T2quaternion - Q = T2quaternion(T)
% teach - MATLAB code for teach.fig
% test_initial - DEMO: Simulate a RAPID programming
% test_joint_limits - [joint, time] = test_joint_limits(robot)
% test_joints - Test whether any of the joint angles exceeds the mechanical
% test_rapid - DEMO: Simulate a RAPID programming
% TPWrite - TPWrite: Print a message on the screen.
% transform_to_homogeneous - T=transform_to_homogeneous(robtarget)
% transform_to_own - Script used to change the coordinates of the points stored in STL format
% vect_arrow - VECT_ARROW(P0, P1, COLOR)
% WaitTime - WAITTIME(seconds) stops execution and waits for a specific amount of time