rt_stanford - create a Stanford manipulator robot object[view code]

Calling Sequence

exec <PATH>/models/rt_stanford.sce;

Description

This Scilab script creates the robot object stanf which describes the kinematic and dynamic characteristics of a Stanford manipulator. Specifies armature inertia and gear ratios. All quantities are in standard SI units.

Also defines the joint coordinate vectors qz corresponding to the zero-angle pose.

Examples

   // load Puma 560 parameters
   exec <PATH>/models/rt_stanford.sce;
   disp(stanf);                                 // display the robot

   // show it at qz pose
   h0 = scf(0); a0 = h0.children;
   a0.tight_limits = "on"; a0.rotation_angles = [73, -50];

   disp(qz);                                    // QZ
   disp(rt_fkine(stanf, qz));
   rt_plot(stanf, qz);

  

See Also

rt_robot,  rt_puma560,  rt_puma560akb,  rt_twolink,  

Authors

original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa

Bibliography

Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

R. P. Paul, Robot Manipulators: Mathematics, Programming and Control. Cambridge, Massachusetts: MIT Press, 1981.

R.P. Paul. "Modeling, trajectory calculation and servoing of a computer controlled arm", Tech. Rep. AIM-177, Stanford University, Artificial Intelligence Laboratory, 1972.