orocos_kdl
models
puma560.cpp
Go to the documentation of this file.
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// Copyright (C) 2009 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Version: 1.0
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// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
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// URL: http://www.orocos.org/kdl
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// This library is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 2.1 of the License, or (at your option) any later version.
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// This library is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// Lesser General Public License for more details.
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// You should have received a copy of the GNU Lesser General Public
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// License along with this library; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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#include <
chain.hpp
>
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#include "
models.hpp
"
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#include <
utilities/utility.h
>
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namespace
KDL
{
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Chain
Puma560
(){
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Chain
puma560;
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puma560.
addSegment
(
Segment
());
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puma560.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH
(0.0,
PI_2
,0.0,0.0),
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RigidBodyInertia
(0,
Vector::Zero
(),
RotationalInertia
(0,0.35,0,0,0,0))));
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puma560.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH
(0.4318,0.0,0.0,0.0),
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RigidBodyInertia
(17.4,
Vector
(-.3638,.006,.2275),
RotationalInertia
(0.13,0.524,0.539,0,0,0))));
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puma560.
addSegment
(
Segment
());
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puma560.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH
(0.0203,-
PI_2
,0.15005,0.0),
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RigidBodyInertia
(4.8,
Vector
(-.0203,-.0141,.070),
RotationalInertia
(0.066,0.086,0.0125,0,0,0))));
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puma560.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH
(0.0,
PI_2
,0.4318,0.0),
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RigidBodyInertia
(0.82,
Vector
(0,.019,0),
RotationalInertia
(1.8e-3,1.3e-3,1.8e-3,0,0,0))));
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puma560.
addSegment
(
Segment
());
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puma560.
addSegment
(
Segment
());
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puma560.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH
(0.0,-
PI_2
,0.0,0.0),
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RigidBodyInertia
(0.34,
Vector::Zero
(),
RotationalInertia
(.3e-3,.4e-3,.3e-3,0,0,0))));
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puma560.
addSegment
(
Segment
(
Joint
(
Joint::RotZ
),
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Frame::DH
(0.0,0.0,0.0,0.0),
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RigidBodyInertia
(0.09,
Vector
(0,0,.032),
RotationalInertia
(.15e-3,0.15e-3,.04e-3,0,0,0))));
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puma560.
addSegment
(
Segment
());
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return
puma560;
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}
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}
chain.hpp
KDL::Joint::RotZ
@ RotZ
Definition:
joint.hpp:47
KDL::Vector::Zero
static Vector Zero()
Definition:
frames.inl:138
utility.h
KDL::RigidBodyInertia
6D Inertia of a rigid body
Definition:
rigidbodyinertia.hpp:37
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::Vector
A concrete implementation of a 3 dimensional vector class.
Definition:
frames.hpp:162
KDL::PI_2
const double PI_2
the value of pi/2
Definition:
utility.cxx:17
KDL::RotationalInertia
Definition:
rotationalinertia.hpp:34
KDL::Puma560
Chain Puma560()
Definition:
puma560.cpp:27
KDL::Frame::DH
static Frame DH(double a, double alpha, double d, double theta)
Definition:
frames.cpp:95
KDL::Segment
This class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body ine...
Definition:
segment.hpp:46
KDL::Chain::addSegment
void addSegment(const Segment &segment)
Definition:
chain.cpp:53
models.hpp
KDL::Joint
This class encapsulates a simple joint, that is with one parameterized degree of freedom and with sca...
Definition:
joint.hpp:45
KDL::Chain
This class encapsulates a serial kinematic interconnection structure. It is built out of segments.
Definition:
chain.hpp:35
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