up

Author: walchko

mdh/robots.py

@@ -0,0 +1,71 @@
+# MIT Licensed
+import numpy as np
+from collections import namedtuple
+
+RobotModel = namedtuple('RobotModel', "dh angles")
+
+def kuka_lbr_iiwa_7():
+    """Get KUKA LBR iiwa 7 MDH model. (https://github.com/nnadeau/pybotics)"""
+    dh = [
+        {'alpha':          0, 'theta': 0, 'd': 0, 'a': 0.340, "type": 1},
+        {'alpha': -np.pi / 2, 'theta': 0, 'd': 0, 'a': 0, "type": 1},
+        {'alpha':  np.pi / 2, 'theta': 0, 'd': 0, 'a': 0.400, "type": 1},
+        {'alpha':  np.pi / 2, 'theta': 0, 'd': 0, 'a': 0, "type": 1},
+        {'alpha': -np.pi / 2, 'theta': 0, 'd': 0, 'a': 0.400, "type": 1},
+        {'alpha': -np.pi / 2, 'theta': 0, 'd': 0, 'a': 0, "type": 1},
+        {'alpha':  np.pi / 2, 'theta': 0, 'd': 0, 'a': 0.126, "type": 1},
+    ]
+    return dh
+
+def kuka_kr_500():
+    """KUKA KR 500 (Forces Acting on the Robot during Grinding, Thesis, Adam Tresnak, 2017)"""
+    dh = [
+        {'alpha':  np.pi / 2, 'theta': 0, 'd': -1.045, 'a': 0.5, "type": 1},
+        {'alpha':          0, 'theta': 0, 'd':      0, 'a': 1.3, "type": 1},
+        {'alpha': -np.pi / 2, 'theta': 0, 'd':      0, 'a': 0.055, "type": 1},
+        {'alpha':  np.pi / 2, 'theta': 0, 'd': -1.025, 'a': 0, "type": 1},
+        {'alpha': -np.pi / 2, 'theta': 0, 'd':      0, 'a': 0, "type": 1},
+        {'alpha':      np.pi, 'theta': 0, 'd': -0.290, 'a': 0, "type": 1},
+    ]
+    return dh
+
+def puma560():
+    """Get PUMA560 MDH model."""
+    return [
+            {'alpha':          0, 'a':      0, 'theta':     0, 'd':      0, "type": 1},
+            {'alpha': -np.pi / 2, 'a':      0, 'theta':     0, 'd':      0, "type": 1},
+            {'alpha':          0, 'a': 0.6127, 'theta':     0, 'd':      0, "type": 1},
+            {'alpha':          0, 'a': 0.5716, 'theta':     0, 'd': 0.1639, "type": 1},
+            {'alpha': -np.pi / 2, 'a':      0, 'theta':     0, 'd': 0.1157, "type": 1},
+            {'alpha':  np.pi / 2, 'a':      0, 'theta': np.pi, 'd': 0.0922, "type": 1}
+        ]
+
+
+# def mecademic_meca500():
+#     """Get Meca500 MDH model."""
+#     return np.array(
+#         {
+#             {0, 0, 0, 135},
+#             {-np.pi / 2, 0, -np.pi / 2, 0},
+#             {0, 135, 0, 0},
+#             {-np.pi / 2, 38, 0, 120},
+#             {np.pi / 2, 0, 0, 0},
+#             {-np.pi / 2, 0, np.pi, 72},
+#         }
+#     )
+#
+#        ]
+#
+#
+# def ur10():
+#     """Get UR10 MDH model."""
+#     return np.array(
+#         {
+#             {0, 0, 0, 118},
+#             {np.pi / 2, 0, np.pi, 0},
+#             {0, 612.7, 0, 0},
+#             {0, 571.6, 0, 163.9},
+#             {-np.pi / 2, 0, 0, 115.7},
+#             {np.pi / 2, 0, np.pi, 92.2},
+#         }
+#     )