From f92e99a1b5ecf62337b0e2138a7a4240193c3521 Mon Sep 17 00:00:00 2001 From: Jens Kober Date: Tue, 12 Apr 2022 12:04:41 +0200 Subject: [PATCH 1/3] added center of mass to Panda DH definition (and cleaned it up a bit) --- roboticstoolbox/models/DH/Panda.py | 49 +++++++++++++++++------------- 1 file changed, 28 insertions(+), 21 deletions(-) diff --git a/roboticstoolbox/models/DH/Panda.py b/roboticstoolbox/models/DH/Panda.py index ad72da9c0..29eb8f23b 100755 --- a/roboticstoolbox/models/DH/Panda.py +++ b/roboticstoolbox/models/DH/Panda.py @@ -47,9 +47,10 @@ def __init__(self): d=0.333, alpha=0.0, qlim=np.array([-2.8973, 2.8973]), - m=4.970684, - I = [7.03370e-01, 7.06610e-01, 9.11700e-03,-1.39000e-04, 1.91690e-02, 6.77200e-03], - G= 1 + m=4.970684, + I=[7.03370e-01, 7.06610e-01, 9.11700e-03, -1.39000e-04, 1.91690e-02, 6.77200e-03], + r=[3.875e-03, 2.081e-03, 0], + G=1 ), RevoluteMDH( @@ -57,9 +58,10 @@ def __init__(self): d=0.0, alpha=-np.pi/2, qlim=np.array([-1.7628, 1.7628]), - m= 0.646926, - I = [7.96200e-03, 2.81100e-02, 2.59950e-02, -3.92500e-03, 7.04000e-04, 1.02540e-02], - G= 1 + m=0.646926, + I=[7.96200e-03, 2.81100e-02, 2.59950e-02, -3.92500e-03, 7.04000e-04, 1.02540e-02], + r=[-3.141e-03, -2.872e-02, 3.495e-03], + G=1 ), RevoluteMDH( @@ -67,9 +69,10 @@ def __init__(self): d=0.316, alpha=np.pi/2, qlim=np.array([-2.8973, 2.8973]), - m= 3.228604, - I = [3.72420e-02, 3.61550e-02, 1.08300e-02, -4.76100e-03, -1.28050e-02, -1.13960e-02], - G= 1 + m=3.228604, + I=[3.72420e-02, 3.61550e-02, 1.08300e-02, -4.76100e-03, -1.28050e-02, -1.13960e-02], + r=[2.7518e-02, 3.9252e-02, -6.6502e-02], + G=1 ), RevoluteMDH( @@ -77,9 +80,10 @@ def __init__(self): d=0.0, alpha=np.pi/2, qlim=np.array([-3.0718, -0.0698]), - m= 3.587895, - I =[2.58530e-02, 1.95520e-02, 2.83230e-02, 7.79600e-03, 8.64100e-03, -1.33200e-03], - G= 1 + m=3.587895, + I=[2.58530e-02, 1.95520e-02, 2.83230e-02, 7.79600e-03, 8.64100e-03, -1.33200e-03], + r=[-5.317e-02, 1.04419e-01, 2.7454e-02], + G=1 ), RevoluteMDH( @@ -87,9 +91,10 @@ def __init__(self): d=0.384, alpha=-np.pi/2, qlim=np.array([-2.8973, 2.8973]), - m= 1.225946, - I = [3.55490e-02, 2.94740e-02, 8.62700e-03, -2.11700e-03, 2.29000e-04, -4.03700e-03], - G= 1 + m=1.225946, + I=[3.55490e-02, 2.94740e-02, 8.62700e-03, -2.11700e-03, 2.29000e-04, -4.03700e-03], + r=[-1.1953e-02, 4.1065e-02, -3.8437e-02], + G=1 ), RevoluteMDH( @@ -97,9 +102,10 @@ def __init__(self): d=0.0, alpha=np.pi/2, qlim=np.array([-0.0175, 3.7525]), - m= 1.666555, - I = [1.96400e-03, 4.35400e-03, 5.43300e-03, 1.09000e-04, 3.41000e-04, -1.15800e-03], - G= 1 + m=1.666555, + I=[1.96400e-03, 4.35400e-03, 5.43300e-03, 1.09000e-04, 3.41000e-04, -1.15800e-03], + r=[6.0149e-02, -1.4117e-02, -1.0517e-02], + G=1 ), RevoluteMDH( @@ -107,9 +113,10 @@ def __init__(self): d=flange, alpha=np.pi/2, qlim=np.array([-2.8973, 2.8973]), - m=7.35522e-01, - I = [1.25160e-02, 1.00270e-02, 4.81500e-03, -4.28000e-04, -7.41000e-04, -1.19600e-03], - G= 1 + m=7.35522e-01, + I=[1.25160e-02, 1.00270e-02, 4.81500e-03, -4.28000e-04, -7.41000e-04, -1.19600e-03], + r=[1.0517e-02, -4.252e-03, 6.1597e-02], + G=1 ) ] From e2956e0992a20708112fd3cd9cef8c0067abeb37 Mon Sep 17 00:00:00 2001 From: Jens Kober Date: Tue, 12 Jul 2022 22:59:42 +0200 Subject: [PATCH 2/3] corrected center of mass of 7th link Co-authored-by: Anonymous Researcher --- roboticstoolbox/models/DH/Panda.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/roboticstoolbox/models/DH/Panda.py b/roboticstoolbox/models/DH/Panda.py index 29eb8f23b..9b3f1dde4 100755 --- a/roboticstoolbox/models/DH/Panda.py +++ b/roboticstoolbox/models/DH/Panda.py @@ -115,7 +115,7 @@ def __init__(self): qlim=np.array([-2.8973, 2.8973]), m=7.35522e-01, I=[1.25160e-02, 1.00270e-02, 4.81500e-03, -4.28000e-04, -7.41000e-04, -1.19600e-03], - r=[1.0517e-02, -4.252e-03, 6.1597e-02], + r=[1.0517e-02, -4.252e-03, -4.5403e-02], G=1 ) ] From 8b670204ef29618019fb1edbe0c218ddd6ce6562 Mon Sep 17 00:00:00 2001 From: Jens Kober Date: Wed, 13 Jul 2022 18:00:37 +0200 Subject: [PATCH 3/3] restored empty lines that got removed --- roboticstoolbox/models/DH/Panda.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/roboticstoolbox/models/DH/Panda.py b/roboticstoolbox/models/DH/Panda.py index fef2bb5b0..95fb69b49 100755 --- a/roboticstoolbox/models/DH/Panda.py +++ b/roboticstoolbox/models/DH/Panda.py @@ -8,18 +8,24 @@ class Panda(DHRobot): """ A class representing the Panda robot arm. + ``Panda()`` is a class which models a Franka-Emika Panda robot and describes its kinematic characteristics using modified DH conventions. + .. runblock:: pycon + >>> import roboticstoolbox as rtb >>> robot = rtb.models.DH.Panda() >>> print(robot) + .. note:: - SI units of metres are used. - The model includes a tool offset. + :references: - https://frankaemika.github.io/docs/control_parameters.html + .. codeauthor:: Samuel Drew .. codeauthor:: Peter Corke """ @@ -205,4 +211,4 @@ def __init__(self): if __name__ == "__main__": # pragma nocover panda = Panda() - print(panda) \ No newline at end of file + print(panda)