155 lines
9.0 KiB
Matlab
155 lines
9.0 KiB
Matlab
function [rigidInfo] = get_robot_arm_rigid_info()
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rigidInfo.link(1).mass = 2.1315260e+01;
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rigidInfo.link(1).jointAxis = 6;
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rigidInfo.link(1).R1 = -[ 1.0440117e+02 -1.1125559e+01 1.2822933e+02]'*1e-3;
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rigidInfo.link(1).R2 = -[-8.0598830e+01 -4.2225559e+01 -1.5870672e+01]'*1e-3;
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rigidInfo.link(1).inertialMatrix = [1.2998819e+08 1.2600723e+07 -3.5301328e+07;
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1.2600723e+07 2.8872462e+08 3.7145910e+06;
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-3.5301328e+07 3.7145910e+06 2.4658035e+08]*1e-9;
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rigidInfo.motor(1).mass = 0;
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rigidInfo.motor(1).jointAxis = 6;
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rigidInfo.motor(1).gearRatio = 50;
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rigidInfo.motor(1).R1 = [0 0 0];
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rigidInfo.motor(1).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(1).inertialMatrix(rigidInfo.motor(1).jointAxis-3,...
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rigidInfo.motor(1).jointAxis-3) = 101219.53*1e-9*0;
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rigidInfo.link(2).mass = 1.9235354e+01;
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rigidInfo.link(2).jointAxis = 5;
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rigidInfo.link(2).R1 = -[ 3.5562148e+02 1.2378198e+01 1.8395830e-03]'*1e-3;
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rigidInfo.link(2).R2 = -[-2.4437852e+02 9.4778198e+01 1.8395830e-03]'*1e-3;
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rigidInfo.link(2).inertialMatrix = [9.4072398e+07 1.1819105e+08 -8.6335749e+03;
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1.1819105e+08 1.2626927e+09 -2.3575826e+03;
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-8.6335749e+03 -2.3575826e+03 1.2707334e+09]*1e-9;
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rigidInfo.motor(2).mass = 0;
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rigidInfo.motor(2).jointAxis = 5;
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rigidInfo.motor(2).gearRatio = 50;
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rigidInfo.motor(2).R1 = [0 0 0];
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rigidInfo.motor(2).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(2).inertialMatrix(rigidInfo.motor(2).jointAxis-3,...
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rigidInfo.motor(2).jointAxis-3) = 101219.53*1e-9*0;
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rigidInfo.link(3).mass = 1.0463871e+01;
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rigidInfo.link(3).jointAxis = 5;
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rigidInfo.link(3).R1 = -[2.4798242e+02 -3.5267916e+01 4.8648267e-02]'*1e-3;
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rigidInfo.link(3).R2 = -[-3.5201758e+02 -2.9007916e+01 4.8648266e-02]'*1e-3;
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rigidInfo.link(3).inertialMatrix = [2.7873904e+07 4.4214569e+06 1.5506243e+05;
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4.4214569e+06 5.4509917e+08 -2.2695805e+04;
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1.5506243e+05 -2.2695805e+04 5.3638465e+08]*1e-9;
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rigidInfo.motor(3).mass = 0;
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rigidInfo.motor(3).jointAxis = 5;
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rigidInfo.motor(3).gearRatio = 50;
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rigidInfo.motor(3).R1 = [0 0 0];
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rigidInfo.motor(3).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(3).inertialMatrix(rigidInfo.motor(3).jointAxis-3,...
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rigidInfo.motor(3).jointAxis-3) = 101219.53*1e-9*0;
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rigidInfo.link(4).mass = 6.1538806;
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rigidInfo.link(4).jointAxis = 5;
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rigidInfo.link(4).R1 = -[ 4.2341069e+01 5.2603527e+01 1.2271365e+01]'*1e-3;
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rigidInfo.link(4).R2 = -[-7.7658931e+01 -1.2956223e+01 1.9271365e+01]'*1e-3;
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rigidInfo.link(4).inertialMatrix = [1.3401032e+07 -3.3450696e+06 -4.9938448e+06;
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-3.3450696e+06 2.9613188e+07 -9.7003445e+05;
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-4.9938448e+06 -9.7003445e+05 2.9945110e+07]*1e-9;
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rigidInfo.motor(4).mass = 0;
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rigidInfo.motor(4).jointAxis = 5;
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rigidInfo.motor(4).gearRatio = 50;
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rigidInfo.motor(4).R1 = [0 0 0];
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rigidInfo.motor(4).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(4).inertialMatrix(rigidInfo.motor(4).jointAxis-3,...
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rigidInfo.motor(4).jointAxis-3) = 101219.53*1e-9*0;
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rigidInfo.link(5).mass = 3.0882893;
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rigidInfo.link(5).jointAxis = 6;
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rigidInfo.link(5).R1 = -[1.0177553e+02 -3.4868152e-02 1.5686100e+00]'*1e-3;
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rigidInfo.link(5).R2 = -[-1.0372447e+02 -3.9239008e-02 -5.4313602e+00]'*1e-3;
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rigidInfo.link(5).inertialMatrix = [3.5376413e+06 -1.2573168e+02 -1.7221434e+06;
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-1.2573168e+02 1.7872508e+07 7.0524077e+02;
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-1.7221434e+06 7.0524077e+02 1.8213619e+07]*1e-9;
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rigidInfo.motor(5).mass = 0;
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rigidInfo.motor(5).jointAxis = 6;
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rigidInfo.motor(5).gearRatio = 50;
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rigidInfo.motor(5).R1 = [0 0 0];
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rigidInfo.motor(5).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(5).inertialMatrix(rigidInfo.motor(5).jointAxis-3,...
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rigidInfo.motor(5).jointAxis-3) = 101219.53*1e-9*0;
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rigidInfo.link(6).mass = 2.4450941;
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rigidInfo.link(6).jointAxis = 4;
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rigidInfo.link(6).R1 = -[5.9942347e+01 -4.8346177e-02 5.5784018e+00]'*1e-3;
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rigidInfo.link(6).R2 = -[-2.3757653e+01 -4.8346177e-02 4.0028402e+01]'*1e-3;
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rigidInfo.link(6).inertialMatrix = [3.7434848e+06 2.7091091e+03 -3.2187006e+05;
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2.7091091e+03 6.1710692e+06 4.3115007e+03;
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-3.2187006e+05 4.3115007e+03 5.2814895e+06]*1e-9;
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rigidInfo.motor(6).mass = 0;
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rigidInfo.motor(6).jointAxis = 4;
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rigidInfo.motor(6).gearRatio = 50;
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rigidInfo.motor(6).R1 = [0 0 0];
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rigidInfo.motor(6).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(6).inertialMatrix(rigidInfo.motor(6).jointAxis-3,...
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rigidInfo.motor(6).jointAxis-3) = 101219.53*1e-9*0;
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rigidInfo.link(7).mass = 3.6376589;
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rigidInfo.link(7).jointAxis = 6;
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rigidInfo.link(7).R1 = -[4.9494392e-02 -2.4240394e+00 -1.0332489e+02]'*1e-3;
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rigidInfo.link(7).R2 = -[4.9494392e-02 -2.4240394e+00 2.7222511e+02]'*1e-3;
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rigidInfo.link(7).inertialMatrix = [3.6676807e+07 1.9814032e+03 6.3921710e+03;
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1.9814032e+03 3.5426529e+07 -1.1636151e+05;
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6.3921710e+03 -1.1636151e+05 3.9665088e+06]*1e-9;
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rigidInfo.motor(7).mass = 0;
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rigidInfo.motor(7).jointAxis = 6;
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rigidInfo.motor(7).gearRatio = 50;
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rigidInfo.motor(7).R1 = [0 0 0];
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rigidInfo.motor(7).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(7).inertialMatrix(rigidInfo.motor(7).jointAxis-3,...
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rigidInfo.motor(7).jointAxis-3) = 101219.53*1e-9*0;
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rigidInfo.link(8).mass = 1.7005420;
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rigidInfo.link(8).jointAxis = 5;
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rigidInfo.link(8).R1 = -[-2.7158498e+01 -3.3865875e-01 -4.6588829e+01]'*1e-3;
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rigidInfo.link(8).R2 = -[ 2.2423433e+02 -3.3865729e-01 1.9671171e+01]'*1e-3;
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rigidInfo.link(8).inertialMatrix = [1.3876431e+06 -2.9158636e+04 3.8674359e+06;
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-2.9158636e+04 6.0220640e+07 1.7266885e+03;
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3.8674359e+06 1.7266885e+03 5.9261473e+07]*1e-9;
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rigidInfo.motor(8).mass = 0;
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rigidInfo.motor(8).jointAxis = 5;
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rigidInfo.motor(8).gearRatio = 50;
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rigidInfo.motor(8).R1 = [0 0 0];
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rigidInfo.motor(8).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(8).inertialMatrix(rigidInfo.motor(8).jointAxis-3,...
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rigidInfo.motor(8).jointAxis-3) = 101219.53*1e-9*0;
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rigidInfo.link(9).mass = 9.1507819e-1;
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rigidInfo.link(9).jointAxis = 1;
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rigidInfo.link(9).R1 = -[-1.9853197e+01 1.9076829e-01 -3.0075564e+01]'*1e-3;
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rigidInfo.link(9).R2 = -[-1.9853197e+01 1.9076829e-01 -3.0075564e+01]'*1e-3;
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rigidInfo.link(9).inertialMatrix = [8.3261779e+05 2.0399642e+03 1.3660323e+05;
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2.0399642e+03 1.6688880e+06 6.0504274e+03;
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1.3660323e+05 6.0504274e+03 1.3114690e+06]*1e-9;
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rigidInfo.motor(9).mass = 0;
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rigidInfo.motor(9).jointAxis = 4;
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rigidInfo.motor(9).gearRatio = 83.3;
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rigidInfo.motor(9).R1 = [0 0 0];
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rigidInfo.motor(9).inertialMatrix = [0 0 0;
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0 0 0;
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0 0 0]*1e-9;
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rigidInfo.motor(9).inertialMatrix(rigidInfo.motor(8).jointAxis-3,...
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rigidInfo.motor(8).jointAxis-3) = 101219.53*1e-9*0; |