- Using Orocos KDL to calculate moment of each joint of PUMA 560
- Export Inertia Matrix, Coriolis Matrix, Gravity Matrix to .csv file
- Compare result to Matlab simulink, error is very small.
D-H table for PUMA 560
// th d a alpha
L(1) = Link([ 0 0 0 pi/2 0]);
L(2) = Link([ 0 0 0.4318 0 0]);
L(3) = Link([ 0 0.15005 0.0203 -pi/2 0]);
L(4) = Link([ 0 0.4318 0 pi/2 0]);
L(5) = Link([ 0 0 0 -pi/2 0]);
L(6) = Link([ 0 0 0 0 0]);
L(1).m = 0;
L(2).m = 17.4;
L(3).m = 4.8;
L(4).m = 0.82;
L(5).m = 0.34;
L(6).m = .09;
//X Y Z
L(1).r = [ 0 0 0 ];
L(2).r = [ -.3638 .006 .2275];
L(3).r = [ -.0203 -.0141 .070];
L(4).r = [ 0 .019 0];
L(5).r = [ 0 0 0];
L(6).r = [ 0 0 .032];
//Ixx Iyy Izz Ixy Ixz Iyz
L(1).I = [ 0 0.35 0 0 0 0];
L(2).I = [ .13 .524 .539 0 0 0];
L(3).I = [ .066 .086 .0125 0 0 0];
L(4).I = [ 1.8e-3 1.3e-3 1.8e-3 0 0 0];
L(5).I = [ .3e-3 .4e-3 .3e-3 0 0 0];
L(6).I = [ .15e-3 .15e-3 .04e-3 0 0 0];
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