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systematic edits of DH robot doco
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‎docs/source/arm_dh.rst

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11
Arm Type Robots - DH
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===================================================
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====================
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.. codeauthor:: Jesse Haviland
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SerialLink
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------------
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.. automodule:: roboticstoolbox.robot.SerialLink
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A number of models are defined in terms of Denavit-Hartenberg parameters, either
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standard or modified. They can be listed by:
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> rtb.models.list(mtype="DH")
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DHRobot
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-------
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.. inheritance-diagram:: roboticstoolbox.DHRobot
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:top-classes: roboticstoolbox.Robot
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:parts: 2
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The various :ref:`DH Models` all subclass this class.
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.. automodule:: roboticstoolbox.robot.DHRobot
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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DHLink
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------
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The ``DHRobot`` is defined by a list of ``DHLink`` subclass objects.
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.. inheritance-diagram:: roboticstoolbox.RevoluteDH roboticstoolbox.PrismaticDH roboticstoolbox.RevoluteMDH roboticstoolbox.PrismaticMDH
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:top-classes: roboticstoolbox.robot.Link
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:parts: 2
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.. automodule:: roboticstoolbox.robot.DHLink
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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Revolute - standard DH
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----------------------
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^^^^^^^^^^^^^^^^^^^^^^
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.. automodule:: roboticstoolbox.robot.RevoluteDH
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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Prismatic - standard DH
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-----------------------
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^^^^^^^^^^^^^^^^^^^^^^^
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.. automodule:: roboticstoolbox.robot.PrismaticDH
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:members:
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:undoc-members:
@@ -30,27 +60,28 @@ Prismatic - standard DH
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Revolute - modified DH
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----------------------
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^^^^^^^^^^^^^^^^^^^^^^
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.. automodule:: roboticstoolbox.robot.RevoluteMDH
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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Prismatic - modified DH
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-----------------------
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^^^^^^^^^^^^^^^^^^^^^^^
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.. automodule:: roboticstoolbox.robot.PrismaticMDH
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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------------
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.. automodule:: roboticstoolbox.robot.DHLink
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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.. _DH Models:
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Models
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------
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.. automodule:: roboticstoolbox.models.DH
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:members:
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:undoc-members:
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:show-inheritance:

‎roboticstoolbox/models/DH/Ball.py

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class Ball(DHRobot):
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'''
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reate model of a ball manipulator
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"""
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Class that models a ball manipulator
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Ball() creates the workspace variable ball which describes the
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kinematic characteristics of a serial link manipulator with 50 joints
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``Ball()`` is a class which models a ball robot and
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describes its kinematic characteristics using standard DH
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conventions.
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The ball robot is an *abstract* robot with an arbitrary number of joints
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that folds into a ball shape.
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Ball(N) as above but creates a manipulator with N joints.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.DH.Ball()
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>>> print(robot)
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Defined joint configurations are:
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- qz, zero joint angles
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- q1, ball shaped configuration
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.. note::
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- SI units are used.
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- The model includes armature inertia and gear ratios.
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- The value of m1 is given as 0 here. Armstrong found no value for it
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and it does not appear in the equation for tau1 after the
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substituion is made to inertia about link frame rather than COG
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frame.
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- Gravity load torque is the motor torque necessary to keep the joint
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static, and is thus -ve of the gravity caused torque.
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Also define the workspace vectors:
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q joint angle vector for default ball configuration
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Reference:
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- "A divide and conquer articulated-body algorithm for parallel O(log(n))
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calculation of rigid body dynamics, Part 2",
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Int. J. Robotics Research, 18(9), pp 876-892.
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:references:
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- "A divide and conquer articulated-body algorithm for parallel O(log(n))
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calculation of rigid body dynamics, Part 2",
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Int. J. Robotics Research, 18(9), pp 876-892.
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Notes:
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- Unlike most other model scripts this one is actually a function that
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behaves like a script and writes to the global workspace.
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'''
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.. codeauthor:: Peter Corke
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"""
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def __init__(self, N=10):
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# and build a serial link manipulator
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super(Ball, self).__init__(links, name='ball')
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# zero angles, L shaped pose
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# zero angles, ball pose
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self.addconfiguration("qz", np.zeros(N,))
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self.addconfiguration("q1", q1)
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‎roboticstoolbox/models/DH/Cobra600.py

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class Cobra600(DHRobot):
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"""
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Class that models a Adept Cobra 600 SCARA manipulator
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``Cobra600()`` is a class which models an Adept Cobra 600 SCARA robot and
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describes its kinematic characteristics using standard DH
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conventions.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.DH.Cobra600()
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>>> print(robot)
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Defined joint configurations are:
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- qz, zero joint angle configuration, 'L' shaped configuration
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.. note::
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- SI units are used.
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- Robot has only 4 DoF.
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.. codeauthor:: Peter Corke
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"""
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# %MDL_COBRA600 Create model of Adept Cobra 600 manipulator
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# %
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# % MDL_COBRA600 is a script that creates the workspace variable c600 which
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# % describes the kinematic characteristics of the 4-axis Adept Cobra 600
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# % SCARA manipulator using standard DH conventions.
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# %
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# % Also define the workspace vectors:
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# % qz zero joint angle configuration
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# %
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# % Notes::
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# % - SI units are used.
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# %
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# % See also SerialRevolute, mdl_puma560akb, mdl_stanford.
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def __init__(self):
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deg = pi/180
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‎roboticstoolbox/models/DH/IRB140.py

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class IRB140(DHRobot):
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"""
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IRB140 Create model of ABB IRB 140 manipulator
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IRB140 is a script that creates the workspace variable irb140 which
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describes the kinematic characteristics of an ABB IRB 140 manipulator
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using standard DH conventions.
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Also define the workspace vectors:
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qz zero joint angle configuration
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qr vertical 'READY' configuration
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qd lower arm horizontal as per data sheet
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Reference::
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- "IRB 140 data sheet", ABB Robotics.
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- "Utilizing the Functional Work Space Evaluation Tool for Assessing a
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System Design and Reconfiguration Alternatives"
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A. Djuric and R. J. Urbanic
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- https://github.com/4rtur1t0/ARTE/blob/master/robots/ABB/IRB140/parameters.m
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Notes::
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- SI units of metres are used.
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- Unlike most other mdl_xxx scripts this one is actually a function that
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behaves like a script and writes to the global workspace.
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Class that models an ABB IRB140 manipulator
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``IRB140()`` is a class which models a Unimation Puma560 robot and
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describes its kinematic and dynamic characteristics using standard DH
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conventions.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.DH.IRB140()
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>>> print(robot)
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Defined joint configurations are:
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- qz, zero joint angle configuration
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- qr, vertical 'READY' configuration
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- qd, lower arm horizontal as per data sheet
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.. note:: SI units of metres are used.
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:references:
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- "IRB 140 data sheet", ABB Robotics.
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- "Utilizing the Functional Work Space Evaluation Tool for Assessing a
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System Design and Reconfiguration Alternatives"
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A. Djuric and R. J. Urbanic
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- https://github.com/4rtur1t0/ARTE/blob/master/robots/ABB/IRB140/parameters.m
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.. codeauthor:: Peter Corke
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"""
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def __init__(self):
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deg = pi/180

‎roboticstoolbox/models/DH/KR5.py

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"""
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@author: Gautam Sinha, Indian Institute of Technology, Kanpur (original MATLAB version)
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@author: Peter Corke
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@author: Samuel Drew
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"""
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class KR5(DHRobot):
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'''
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KR5 Create model of Kuka KR5 manipulator
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"""
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Class that models a Kuka KR5 manipulator
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MDL_KR5 is a script that creates the workspace variable KR5 which
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describes the kinematic characteristics of a Kuka KR5 manipulator using
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standard DH conventions.
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``KR5()`` is a class which models a Kuka KR5 robot and
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describes its kinematic characteristics using standard DH
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conventions.
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Also define the workspace vectors:
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qk1 nominal working position 1
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qk2 nominal working position 2
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qk3 nominal working position 3
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.. runblock:: pycon
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Notes::
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- SI units of metres are used.
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- Includes an 11.5cm tool in the z-direction
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.DH.KR5()
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>>> print(robot)
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Reference::
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- https://github.com/4rtur1t0/ARTE/blob/master/robots/KUKA/KR5_arc/parameters.m
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Defined joint configurations are:
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Author::
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- Gautam Sinha,
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Indian Institute of Technology, Kanpur.
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- qk1, nominal working position 1
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- qk2, nominal working position 2
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- qk3, nominal working position 3
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Define simplest line model for KUKA KR5 robot
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Contain DH parameters for KUKA KR5 robot
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All link lenghts and offsets are measured in cm
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'''
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.. note::
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- SI units of metres are used.
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- Includes an 11.5cm tool in the z-direction
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:references:
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- https://github.com/4rtur1t0/ARTE/blob/master/robots/KUKA/KR5_arc/parameters.m
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.. codeauthor:: Gautam Sinha, Indian Institute of Technology, Kanpur (original MATLAB version)
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.. codeauthor:: Samuel Drew
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.. codeauthor:: Peter Corke
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"""
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def __init__(self):
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deg = pi / 180

‎roboticstoolbox/models/DH/LWR4.py

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class LWR4(DHRobot):
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"""
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A class representing the Kuka LWR-IV robot arm.
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Class that models a LWR-IV manipulator
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DH Parameters taken from
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http://www.diag.uniroma1.it/~deluca/rob1_en/09_Exercise_DH_KukaLWR4.pdf
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``LWR4()`` is a class which models a Kuka LWR-IV robot and
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describes its kinematic characteristics using standard DH
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conventions.
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.. runblock:: pycon
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Example::
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>>> import roboticstoolbox as rtb
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>>> robot = rtb.models.DH.LWR4()
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>>> print(robot)
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>>> robot = LWR4()
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Defined joint configurations are:
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- qz, zero joint angle configuration, 'L' shaped configuration
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- qr, vertical 'READY' configuration
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- qs, arm is stretched out in the X direction
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- qn, arm is at a nominal non-singular configuration
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.. note:: SI units are used.
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:references:
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- http://www.diag.uniroma1.it/~deluca/rob1_en/09_Exercise_DH_KukaLWR4.pdf
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.. codeauthor:: Peter Corke
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"""
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def __init__(self):

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