00001 %
00002 %
00003 clear
00004 %
00005 a = transl([1;2;3]);
00006 b = rotx(pi/6);
00007 c = roty(pi/6);
00008 d = rotz(pi/6);
00009 e = rpy2tr([3;2;1]);
00010 f = rotvec([1;2;3],pi/2);
00011
00012 q_ = quaternion([0 0 1], pi/4);
00013 g = q_.r;
00014 q_ = quaternion([pi/4, pi/6, pi/8, 1]);
00015 qu_= unit(q_);
00016 h = qu_.r; % Rotation Matrix from quaternion
00017 i = qu_.t; % Transformation " "
00018 q_ = quaternion(h);
00019 j = [q_.s q_.v];
00020 q_ = quaternion(i);
00021 k = [q_.s q_.v];
00022
00023 % -------------- R O B O T -----------------
00024
00025 clear q_;
00026 q_ = ;
00027 qd_ = q_;
00028 qdd_ = q_;
00029 run puma560_no_motor;
00030 l = fkine(p560, q_);
00031 m = jacob0(p560, q_);
00032 n = jacobn(p560, q_);
00033 o = rne_dh(p560, q_, qd_, qdd_);
00034 p = inertia(p560, q_);
00035 clear p560;
00036 run puma560_motor;
00037 q = rne_dh(p560, q_, qd_, qdd_);
00038
00039 run stanford_no_motor;
00040 r = fkine(stanf, q_);
00041 s = jacob0(stanf, q_);
00042 t = jacobn(stanf, q_);
00043 u = rne_dh(stanf, q_, qd_, qdd_);
00044 g_ = ;
00045 f_ = ;
00046 v = rne_dh(stanf, q_, qd_, qdd_, g_, f_);
00047 w = inertia(stanf, q_);
00048
00049 run puma560akb_no_motor;
00050 x = fkine(p560m, q_);
00051 y = jacob0(p560m, q_);
00052 z = jacobn(p560m, q_);
00053 aa = rne_mdh(p560m, q_, qd_, qdd_);
00054 bb= inertia(p560m, q_);
00055 clear p560m;
00056 run puma560akb_motor;
00057 cc = rne_mdh(p560m, q_, qd_, qdd_);
00058 dd = rne_mdh(p560m, q_, qd_, qdd_, g_, f_);
00059
00060 save ../source/test.txt -ascii -double a b c d e f g h i j k l m n o p q r s t u v w x y z aa bb cc dd
