/
loadMotomanBounds.m
executable file
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/
loadMotomanBounds.m
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function bounds = loadMotomanBounds()
%LOADMOTOMANBOUNDS Motoman kinematics parameters bounds configuration function
% Custom function for bounds of individual kinematics parameter. Position in
% bounds matrix corresponds with the position in kinematics matrix. The inf value
% means the parameters in unbounded, the double value is a relative bound
% for a parameter and parameters with nan use the initial bounds from
% robot configuration function.
%OUTPUT - bounds - structure of bounds for individual kinematics parameter
bounds.leftArm = [nan, nan, nan, nan;
nan, nan, nan, nan;
nan, nan, nan, nan;
nan, nan, nan, nan;
inf, nan, nan, nan;
nan, nan, nan, nan;
nan, nan, nan, nan;
nan, nan, nan, nan;
nan, nan, nan, nan];
bounds.rightArm = [inf, inf, 0.05, 0.05;
inf, inf, 0.05, 0.05;
inf, inf, 0.05, 0.05;
inf, inf, 0.05, 0.05;
inf, inf, 0.05, 0.05;
inf, inf, 0.05, 0.05;
0.005, inf, 0.05, 0.05;
inf, inf, 0.05, 0.05;
inf, inf, 0.05, 0.05];
bounds.leftEye = [nan, nan, nan, nan;
nan, nan, nan, nan];
bounds.rightEye = [nan, nan, nan, nan;
nan, nan, nan, nan];
end