Skip to content

Commit 176f21c

Browse files
jhavljhavl
authored
Merge pull request #287 from tassos/AL5D-support
Al5D Support
2 parents 8f11232 + 0592dcd commit 176f21c

File tree

15 files changed

+290
-0
lines changed

15 files changed

+290
-0
lines changed

‎roboticstoolbox/models/DH/AL5D.py

+118
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,118 @@
1+
"""
2+
@author: Tassos Natsakis
3+
"""
4+
5+
import numpy as np
6+
from roboticstoolbox import DHRobot, RevoluteMDH
7+
from spatialmath import SE3
8+
9+
class AL5D(DHRobot):
10+
"""
11+
Class that models a Lynxmotion AL5D manipulator
12+
13+
:param symbolic: use symbolic constants
14+
:type symbolic: bool
15+
16+
``AL5D()`` is an object which models a Lynxmotion AL5D robot and
17+
describes its kinematic and dynamic characteristics using modified DH
18+
conventions.
19+
20+
.. runblock:: pycon
21+
22+
>>> import roboticstoolbox as rtb
23+
>>> robot = rtb.models.DH.AL5D()
24+
>>> print(robot)
25+
26+
Defined joint configurations are:
27+
28+
- qz, zero joint angle configuration
29+
30+
.. note::
31+
- SI units are used.
32+
33+
:References:
34+
35+
- 'Reference of the robot <http://www.lynxmotion.com/c-130-al5d.aspx>'_
36+
37+
.. codeauthor:: Tassos Natsakis
38+
""" # noqa
39+
40+
def __init__(self, symbolic=False):
41+
42+
if symbolic:
43+
import spatialmath.base.symbolic as sym
44+
zero = sym.zero()
45+
pi = sym.pi()
46+
else:
47+
from math import pi
48+
zero = 0.0
49+
50+
# robot length values (metres)
51+
a = [0, 0.002, 0.14679, 0.17751]
52+
d = [-0.06858, 0, 0, 0]
53+
54+
alpha = [pi, pi/2, pi, pi]
55+
offset = [pi/2, pi, -0.0427, -0.0427-pi/2]
56+
57+
# mass data as measured
58+
mass = [0.187, 0.044, 0.207, 0.081]
59+
60+
# center of mass as calculated through CAD model
61+
center_of_mass = [
62+
[0.01724, -0.00389, 0.00468],
63+
[0.07084, 0.00000, 0.00190],
64+
[0.05615, -0.00251, -0.00080],
65+
[0.04318, 0.00735, -0.00523],
66+
]
67+
68+
# moments of inertia are practically zero
69+
moments_of_inertia = [
70+
[0, 0, 0, 0, 0, 0],
71+
[0, 0, 0, 0, 0, 0],
72+
[0, 0, 0, 0, 0, 0],
73+
[0, 0, 0, 0, 0, 0]
74+
]
75+
76+
joint_limits = [
77+
[-pi/2, pi/2],
78+
[-pi/2, pi/2],
79+
[-pi,2, pi/2],
80+
[-pi/2, pi/2],
81+
]
82+
83+
links = []
84+
85+
for j in range(4):
86+
link = RevoluteMDH(
87+
d=d[j],
88+
a=a[j],
89+
alpha=alpha[j],
90+
offset=offset[j],
91+
r=center_of_mass[j],
92+
I=moments_of_inertia[j],
93+
G=1,
94+
B=0,
95+
Tc=[0,0],
96+
qlim=joint_limits[j]
97+
)
98+
links.append(link)
99+
100+
tool=SE3(0.07719,0,0)
101+
102+
super().__init__(
103+
links,
104+
name="AL5D",
105+
manufacturer="Lynxmotion",
106+
keywords=('dynamics', 'symbolic'),
107+
symbolic=symbolic,
108+
tool=tool
109+
)
110+
111+
# zero angles
112+
self.addconfiguration("home", np.array([pi/2, pi/2, pi/2, pi/2]))
113+
114+
if __name__ == '__main__': # pragma nocover
115+
116+
al5d = AL5D(symbolic=False)
117+
print(al5d)
118+
print(al5d.dyntable())

‎roboticstoolbox/models/DH/__init__.py

+2
Original file line numberDiff line numberDiff line change
@@ -21,6 +21,7 @@
2121
from roboticstoolbox.models.DH.TwoLink import TwoLink
2222
from roboticstoolbox.models.DH.Hyper3d import Hyper3d
2323
from roboticstoolbox.models.DH.P8 import P8
24+
from roboticstoolbox.models.DH.AL5D import AL5D
2425

2526

2627
__all__ = [
@@ -47,4 +48,5 @@
4748
'Baxter',
4849
'TwoLink',
4950
'P8',
51+
'AL5D',
5052
]

‎roboticstoolbox/models/URDF/AL5D.py

+53
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,53 @@
1+
#!/usr/bin/env python
2+
3+
import numpy as np
4+
from roboticstoolbox.robot.ERobot import ERobot
5+
from math import pi
6+
7+
class AL5D(ERobot):
8+
"""
9+
Class that imports a AL5D URDF model
10+
11+
``AL5D()`` is a class which imports a Lynxmotion AL5D robot definition
12+
from a URDF file. The model describes its kinematic and graphical
13+
characteristics.
14+
15+
.. runblock:: pycon
16+
17+
>>> import roboticstoolbox as rtb
18+
>>> robot = rtb.models.URDF.AL5D()
19+
>>> print(robot)
20+
21+
Defined joint configurations are:
22+
23+
- qz, zero joint angle configuration, 'L' shaped configuration
24+
- up, robot poiting upwards
25+
26+
.. codeauthor:: Tassos Natsakis
27+
"""
28+
29+
def __init__(self):
30+
31+
links, name, urdf_string, urdf_filepath = self.URDF_read(
32+
"al5d_description/urdf/al5d_robot.urdf"
33+
)
34+
35+
super().__init__(
36+
links,
37+
name=name,
38+
urdf_string=urdf_string,
39+
urdf_filepath=urdf_filepath,
40+
)
41+
42+
self.manufacturer = "Lynxmotion"
43+
44+
# zero angles, upper arm pointing up, lower arm straight ahead
45+
self.addconfiguration("qz", np.array([0, 0, 0, 0]))
46+
47+
# reference pose robot pointing upwards
48+
self.addconfiguration("up", np.array([0.0000, 0.0000, 1.5707, 0.0000]))
49+
50+
if __name__ == "__main__": # pragma nocover
51+
52+
robot = AL5D()
53+
print(robot)

‎roboticstoolbox/models/URDF/__init__.py

+2
Original file line numberDiff line numberDiff line change
@@ -19,6 +19,7 @@
1919
from roboticstoolbox.models.URDF.LBR import LBR
2020
from roboticstoolbox.models.URDF.KinovaGen3 import KinovaGen3
2121
from roboticstoolbox.models.URDF.YuMi import YuMi
22+
from roboticstoolbox.models.URDF.AL5D import AL5D
2223

2324
__all__ = [
2425
"Panda",
@@ -42,4 +43,5 @@
4243
"LBR",
4344
"KinovaGen3",
4445
"YuMi",
46+
"AL5D",
4547
]

‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/base.stl

611 KB
Binary file not shown.

‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/link1.stl

343 KB
Binary file not shown.

‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/link2.stl

111 KB
Binary file not shown.

‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/link3.stl

681 KB
Binary file not shown.

‎rtb-data/rtbdata/meshes/Lynxmotion/AL5D/link4.stl

1.11 MB
Binary file not shown.

‎rtb-data/rtbdata/xacro/al5d_description/meshes/base.stl

611 KB
Binary file not shown.

‎rtb-data/rtbdata/xacro/al5d_description/meshes/link1.stl

343 KB
Binary file not shown.

‎rtb-data/rtbdata/xacro/al5d_description/meshes/link2.stl

111 KB
Binary file not shown.

‎rtb-data/rtbdata/xacro/al5d_description/meshes/link3.stl

681 KB
Binary file not shown.

‎rtb-data/rtbdata/xacro/al5d_description/meshes/link4.stl

1.11 MB
Binary file not shown.

‎rtb-data/rtbdata/xacro/al5d_description/urdf/al5d_robot.urdf

+115
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,115 @@
1+
<?xml version="1.0" ?>
2+
<robot name="AL5D" xmlns:xacro="http://www.ros.org/wiki/xacro">
3+
<material name="gray">
4+
<color rgba="0.8 0.8 0.8 0.9"/>
5+
</material>
6+
<material name="black">
7+
<color rgba="0.3 0.3 0.3 0.9"/>
8+
</material>
9+
10+
<link name="base">
11+
<visual>
12+
<geometry>
13+
<mesh filename="package://al5d_description/meshes/base.stl" scale="0.001 0.001 0.001"/>
14+
</geometry>
15+
<origin rpy="0 0 0"/>
16+
<material name="black"/>
17+
</visual>
18+
<inertial>
19+
<mass value="0.092"/>
20+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
21+
</inertial>
22+
</link>
23+
24+
<link name="link1">
25+
<visual>
26+
<geometry>
27+
<mesh filename="package://al5d_description/meshes/link1.stl" scale="0.001 0.001 0.001"/>
28+
</geometry>
29+
<origin rpy="0 0 0" xyz="0 0 0"/>
30+
<material name="black"/>
31+
</visual>
32+
<inertial>
33+
<mass value="0.187"/>
34+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
35+
</inertial>
36+
</link>
37+
38+
<link name="link2">
39+
<visual>
40+
<geometry>
41+
<mesh filename="package://al5d_description/meshes/link2.stl" scale="0.001 0.001 0.001"/>
42+
</geometry>
43+
<origin xyz="0 0 0"/>
44+
<material name="gray"/>
45+
</visual>
46+
<inertial>
47+
<mass value="0.044"/>
48+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
49+
</inertial>
50+
</link>
51+
52+
<link name="link3">
53+
<visual>
54+
<geometry>
55+
<mesh filename="package://al5d_description/meshes/link3.stl" scale="0.001 0.001 0.001"/>
56+
</geometry>
57+
<origin rpy="0 0 -0.0427" xyz="0 0 0"/>
58+
<material name="gray"/>
59+
</visual>
60+
<inertial>
61+
<mass value="0.207"/>
62+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
63+
</inertial>
64+
</link>
65+
66+
<link name="link4">
67+
<visual>
68+
<geometry>
69+
<mesh filename="package://al5d_description/meshes/link4.stl" scale="0.001 0.001 0.001"/>
70+
</geometry>
71+
<origin rpy="0 0 1.528096327" xyz="0 0 0"/>
72+
<material name="black"/>
73+
</visual>
74+
<inertial>
75+
<mass value="0.081"/>
76+
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
77+
</inertial>
78+
</link>
79+
80+
<joint name="j1" type="revolute">
81+
<parent link="base"/>
82+
<child link="link1"/>
83+
<origin rpy="0 3.141592653 0" xyz="0 0 0.06858"/>
84+
<axis xyz="0 0 1"/>
85+
<!-- This is descibed in child frame -->
86+
<limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
87+
</joint>
88+
89+
<joint name="j2" type="revolute">
90+
<parent link="link1"/>
91+
<child link="link2"/>
92+
<origin rpy="0 1.570796325 -1.570796325" xyz="0.002 0 0"/>
93+
<axis xyz="0 0 1"/>
94+
<!-- This is descibed in child frame -->
95+
<limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
96+
</joint>
97+
98+
<joint name="j3" type="revolute">
99+
<parent link="link2"/>
100+
<child link="link3"/>
101+
<origin rpy="0 3.141592653 1.570796325" xyz="0.14679 0 0"/>
102+
<axis xyz="0 0 1"/>
103+
<!-- This is descibed in child frame -->
104+
<limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
105+
</joint>
106+
107+
<joint name="j4" type="revolute">
108+
<parent link="link3"/>
109+
<child link="link4"/>
110+
<origin rpy="3.141592653 0 1.570796325" xyz="0.17751 0 0"/>
111+
<axis xyz="0 0 1"/>
112+
<limit effort="1000.0" lower="-1.570796325" upper="1.570796325" velocity="0"/>
113+
</joint>
114+
</robot>
115+

0 commit comments

Comments
 (0)