orocos_kdl: orocos_kdl: kukaLWR_DHnew.cpp Source File

00001 // Copyright  (C)  2009  Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00002 
00003 // Version: 1.0
00004 // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00005 // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
00006 // URL: http://www.orocos.org/kdl
00007 
00008 // This library is free software; you can redistribute it and/or
00009 // modify it under the terms of the GNU Lesser General Public
00010 // License as published by the Free Software Foundation; either
00011 // version 2.1 of the License, or (at your option) any later version.
00012 
00013 // This library is distributed in the hope that it will be useful,
00014 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00015 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00016 // Lesser General Public License for more details.
00017 
00018 // You should have received a copy of the GNU Lesser General Public
00019 // License along with this library; if not, write to the Free Software
00020 // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021 
00022 #include <chain.hpp>
00023 #include "models.hpp"
00024 
00025 namespace KDL{
00026     Chain KukaLWR_DHnew(){
00027         Chain kukaLWR_DHnew;
00028         
00029         //joint 0
00030         kukaLWR_DHnew.addSegment(Segment(Joint(Joint::None),
00031                                   Frame::DH_Craig1989(0.0, 0.0, 0.31, 0.0)
00032                                   ));
00033         //joint 1
00034         kukaLWR_DHnew.addSegment(Segment(Joint(Joint::RotZ),
00035                                   Frame::DH_Craig1989(0.0, 1.5707963, 0.0, 0.0),
00036                                   Frame::DH_Craig1989(0.0, 1.5707963, 0.0, 0.0).Inverse()*RigidBodyInertia(2,
00037                                                                                                  Vector::Zero(),
00038                                                                                                  RotationalInertia(0.0,0.0,0.0115343,0.0,0.0,0.0))));
00039                                    
00040         //joint 2 
00041         kukaLWR_DHnew.addSegment(Segment(Joint(Joint::RotZ),
00042                                   Frame::DH_Craig1989(0.0, -1.5707963, 0.4, 0.0),
00043                                   Frame::DH_Craig1989(0.0, -1.5707963, 0.4, 0.0).Inverse()*RigidBodyInertia(2,
00044                                                                                                    Vector(0.0,-0.3120511,-0.0038871),
00045                                                                                                    RotationalInertia(-0.5471572,-0.0000302,-0.5423253,0.0,0.0,0.0018828))));
00046                                   
00047         //joint 3
00048         kukaLWR_DHnew.addSegment(Segment(Joint(Joint::RotZ),
00049                                   Frame::DH_Craig1989(0.0, -1.5707963, 0.0, 0.0),
00050                                   Frame::DH_Craig1989(0.0, -1.5707963, 0.0, 0.0).Inverse()*RigidBodyInertia(2,
00051                                                                                                    Vector(0.0,-0.0015515,0.0),
00052                                                                                                    RotationalInertia(0.0063507,0.0,0.0107804,0.0,0.0,-0.0005147))));
00053                                   
00054         //joint 4
00055         kukaLWR_DHnew.addSegment(Segment(Joint(Joint::RotZ),
00056                                   Frame::DH_Craig1989(0.0, 1.5707963, 0.39, 0.0),
00057                                   Frame::DH_Craig1989(0.0, 1.5707963, 0.39, 0.0).Inverse()*RigidBodyInertia(2,
00058                                                                                                    Vector(0.0,0.5216809,0.0),
00059                                                                                                    RotationalInertia(-1.0436952,0.0,-1.0392780,0.0,0.0,0.0005324))));
00060                                   
00061         //joint 5
00062         kukaLWR_DHnew.addSegment(Segment(Joint(Joint::RotZ),
00063                                   Frame::DH_Craig1989(0.0, 1.5707963, 0.0, 0.0),
00064                                   Frame::DH_Craig1989(0.0, 1.5707963, 0.0, 0.0).Inverse()*RigidBodyInertia(2,
00065                                                                                                    Vector(0.0,0.0119891,0.0),
00066                                                                                                    RotationalInertia(0.0036654,0.0,0.0060429,0.0,0.0,0.0004226))));
00067                                   
00068         //joint 6
00069         kukaLWR_DHnew.addSegment(Segment(Joint(Joint::RotZ),
00070                                   Frame::DH_Craig1989(0.0, -1.5707963, 0.0, 0.0),
00071                                   Frame::DH_Craig1989(0.0, -1.5707963, 0.0, 0.0).Inverse()*RigidBodyInertia(2,
00072                                                                                                    Vector(0.0,0.0080787,0.0),
00073                                                                                                    RotationalInertia(0.0010431,0.0,0.0036376,0.0,0.0,0.0000101))));
00074         //joint 7
00075         kukaLWR_DHnew.addSegment(Segment(Joint(Joint::RotZ),
00076                                    Frame::Identity(),
00077                                    RigidBodyInertia(2,
00078                                                                                                    Vector::Zero(),
00079                                                                                                    RotationalInertia(0.000001,0.0,0.0001203,0.0,0.0,0.0))));
00080         return kukaLWR_DHnew;
00081     }
00082     
00083 }