orocos_kdl: orocos_kdl: puma560.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 Puma560(){
00027         Chain puma560;
00028         puma560.addSegment(Segment());
00029         puma560.addSegment(Segment(Joint(Joint::RotZ),
00030                                    Frame::DH(0.0,M_PI_2,0.0,0.0),
00031                                    RigidBodyInertia(0,Vector::Zero(),RotationalInertia(0,0.35,0,0,0,0))));
00032         puma560.addSegment(Segment(Joint(Joint::RotZ),
00033                                    Frame::DH(0.4318,0.0,0.0,0.0),
00034                                    RigidBodyInertia(17.4,Vector(-.3638,.006,.2275),RotationalInertia(0.13,0.524,0.539,0,0,0))));
00035         puma560.addSegment(Segment());
00036         puma560.addSegment(Segment(Joint(Joint::RotZ),
00037                                    Frame::DH(0.0203,-M_PI_2,0.15005,0.0),
00038                                    RigidBodyInertia(4.8,Vector(-.0203,-.0141,.070),RotationalInertia(0.066,0.086,0.0125,0,0,0))));
00039         puma560.addSegment(Segment(Joint(Joint::RotZ),
00040                                    Frame::DH(0.0,M_PI_2,0.4318,0.0),
00041                                    RigidBodyInertia(0.82,Vector(0,.019,0),RotationalInertia(1.8e-3,1.3e-3,1.8e-3,0,0,0))));
00042         puma560.addSegment(Segment());
00043         puma560.addSegment(Segment());
00044         puma560.addSegment(Segment(Joint(Joint::RotZ),
00045                                    Frame::DH(0.0,-M_PI_2,0.0,0.0),
00046                                    RigidBodyInertia(0.34,Vector::Zero(),RotationalInertia(.3e-3,.4e-3,.3e-3,0,0,0))));
00047         puma560.addSegment(Segment(Joint(Joint::RotZ),
00048                                    Frame::DH(0.0,0.0,0.0,0.0),
00049                                    RigidBodyInertia(0.09,Vector(0,0,.032),RotationalInertia(.15e-3,0.15e-3,.04e-3,0,0,0))));
00050         puma560.addSegment(Segment());
00051         return puma560;
00052     }
00053     
00054 }