Create model of Puma 560 manipulator
mdl_puma560
Script creates the workspace variable p560 which describes the kinematic and dynamic characteristics of a Unimation Puma 560 manipulator using standard DH conventions. The model includes armature inertia and gear ratios.
Also define the workspace vectors:
qz zero joint angle configuration
qready vertical 'READY' configuration
qstretch arm is stretched out in the X direction
qn arm is at a nominal non-singular configuration
the value of m1 is given as 0 here. Armstrong found no value for it and it does not appear in the equation for tau1 after the substituion is made to inertia about link frame rather than COG frame. updated:
2/8/95 changed D3 to 150.05mm which is closer to data from Lee, AKB86 and Tarn fixed errors in COG for links 2 and 3
29/1/91 to agree with data from Armstrong etal. Due to their use of modified D&H params, some of the offsets Ai, Di are offset, and for links 3-5 swap Y and Z axes.
14/2/91 to use Paul's value of link twist (alpha) to be consistant with ARCL. This is the -ve of Lee's values, which means the zero angle position is a righty for Paul, and lefty for Lee. Note that gravity load torque is the motor torque necessary to keep the joint static, and is thus -ve of the gravity caused torque.
8/95 fix bugs in COG data for Puma 560. This led to signficant errors in inertia of joint 1.
[1] "A search for consensus among model parameters reported for the PUMA 560 robot", P. Corke and B. Armstrong-Helouvry, Proc. IEEE Int. Conf. Robotics and Automation, (San Diego), pp. 1608-1613, May 1994.
[2] "A combined optimization method for solving the inverse kinematics problem...", Wang & Chen, IEEE Trans. RA 7(4) 1991 pp 489-