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Copy pathFRANKA_model.m
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FRANKA_model.m
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close all
clc
syms I3xx I3xy I3xz I3yx I3yy I3yz I3zx I3zy I3zz
%% Parameters
% lenghts [m]
d1 = 0.333;
d3=0.316;
d5=0.384;
a4=0.0825;
a5=-0.0825;
a7=0.088;
%% Denavit-Hartenberg
L1 = Link([0,d1, 0, 0], 'modified');
L2 = Link([0,0, 0, -pi/2], 'modified');
L3 = Link([0,d3, 0, pi/2], 'modified');
L4 = Link([0,0, a4, pi/2], 'modified');
L5 = Link([0,d5, a5, -pi/2], 'modified');
L6 = Link([0,0, 0, pi/2], 'modified');
L7 = Link([0,0, a7, pi/2], 'modified');
PANDA = SerialLink([L1 L2 L3 L4 L5 L6 L7],'name','PANDA'); % real robot
m1=3.4525; m2=3.4821; m3=4.0562; m4=3.4822; m5=2.1633;
m6=2.3466;
m7=0.31290;
r1=transpose([0; -0.03; 0.12]);
r2=transpose([3.0000e-04; 0.059; 0.042]);
r3=transpose([0; 0.03; 0.13]);
r4=transpose([0; 0.067; 0.034]);
r5=transpose([1.0000e-04; 0.021; 0.076]);
r6=transpose([0; 6.0000e-04; 4.0000e-04]);
r7=transpose([0; 0; 0.02]);
I1=[0.0747 0.0085 0;
0.0085 0.0574 0;
0 0 0.0239];
I2=[0.0390 -0.0086 -0.0037;
-0.0086 0.0279 -6.1633e-05;
-0.0037 -6.1633e-05 0.0199];
I3=[I3xx I3xy I3xz; I3yx, I3yy, I3yz; I3zx I3zy I3zz];
I4=[0.006052050623697 -0.000000262507583 -0.000001120888863;
-0.000000262507583 0.005990028254028 -0.001308542301422;
-0.000001120888863 -0.001308542301422 0.001861529721327];
I5=[0.005775526977146 -0.000000448127278 0.000000782342032;
-0.000000448127278 0.005348473437925 0.001819965983941;
0.000000782342032 0.001819965983941 0.002181233531810];
I6=[0.001882302441080 0.000000003150206 -0.000000072256604;
0.000000003150206 0.001889339660303 -0.000012066987492;
-0.000000072256604 -0.000012066987492 0.002133520179065];
I7=[0.0003390625 0 0;
0 0.0003390625 0;
0 0 0.000528125];
%
% I1=[0.0747 0.0085 0;
% 0.0085 0.0574 0;
% 0 0 0.0239];
%
% I2=[0.0390 -0.0086 -0.0037;
% -0.0086 0.0279 -6.1633e-05;
% -0.0037 -6.1633e-05 0.0199];
%
% I3=[0.006052050623697 0.000000262383560 0.000001120384479;
% 0.000000262383560 0.005990028254028 -0.001308542301422;
% 0.000001120384479 -0.001308542301422 0.001861529721327];
%
% I4=[0.006052050623697 -0.000000262507583 -0.000001120888863;
% -0.000000262507583 0.005990028254028 -0.001308542301422;
% -0.000001120888863 -0.001308542301422 0.001861529721327];
%
% I5=[0.005775526977146 -0.000000448127278 0.000000782342032;
% -0.000000448127278 0.005348473437925 0.001819965983941;
% 0.000000782342032 0.001819965983941 0.002181233531810];
%
% I6=[0.001882302441080 0.000000003150206 -0.000000072256604;
% 0.000000003150206 0.001889339660303 -0.000012066987492;
% -0.000000072256604 -0.000012066987492 0.002133520179065];
%
% I7=[0.0003390625 0 0;
% 0 0.0003390625 0;
% 0 0 0.000528125];
%% Set link mass, lenght and inertia
PANDA.links(1).m = m1;
PANDA.links(2).m = m2;
PANDA.links(3).m = m3;
PANDA.links(4).m = m4;
PANDA.links(5).m = m5;
PANDA.links(6).m = m6;
PANDA.links(7).m = m7;
% PANDAmodel.links(1).m = m1;
% PANDAmodel.links(2).m = m2;
% PANDAmodel.links(3).m = m3;
% PANDAmodel.links(4).m = m4;
% PANDAmodel.links(5).m = m5;
% PANDAmodel.links(6).m = m6;
% PANDAmodel.links(7).m = m7;
PANDA.links(1).r = r1;
PANDA.links(2).r = r2;
PANDA.links(3).r = r3;
PANDA.links(4).r = r4;
PANDA.links(5).r = r5;
PANDA.links(6).r = r6;
PANDA.links(7).r = r7;
% PANDAmodel.links(1).r = r1;
% PANDAmodel.links(2).r = r2;
% PANDAmodel.links(3).r = r3;
% PANDAmodel.links(4).r = r4;
% PANDAmodel.links(5).r = r5;
% PANDAmodel.links(6).r = r6;
% PANDAmodel.links(7).r = r7;
PANDA.links(1).I = I1;
PANDA.links(2).I = I2;
PANDA.links(3).I = I3;
PANDA.links(4).I = I4;
PANDA.links(5).I = I5;
PANDA.links(6).I = I6;
PANDA.links(7).I = I7;
% PANDAmodel.links(1).I = I1;
% PANDAmodel.links(2).I = I2;
% PANDAmodel.links(3).I = I3;
% PANDAmodel.links(4).I = I4;
% PANDAmodel.links(5).I = I5;
% PANDAmodel.links(6).I = I6;
% PANDAmodel.links(7).I = I7;
%% Plot the robot
q0 = [0 0 0 0 0 0 0];
% KUKA.plot(q0,'floorlevel',0)
syms q1 q2 q3 q4 q5 q6 q7 real
q = [q1 q2 q3 q4 q5 q6 q7];
%% Code generator
save('robot','PANDA')
% save('robotmodel','PANDAsymp_model')