RX90.par

(*******************************************)
(*     SYMORO+ : Parameters of a robot     *)
(*                                         *)
(* Institut de Recherche en Communications *)
(*        et Cybernetique de Nantes        *)
(*                                         *)
(*            Equipe robotique             *)
(*                                         *)
(*       1 rue de la Noë, BP 92101         *)
(*          44321 NANTES Cedex 3           *)
(*                                         *)
(*      web: www.irccyn.ec-nantes.fr       *)
(*******************************************)

(* File aid.par *)

(* General parameters *)
(* Robotname = 'aid' *)
NF = 6
NL = 6
NJ = 6
Type = 0 (* Simple *)

(* Geometric parameters *)
Ant = {
        0,1,2,3,4,5}
Sigma  = {
        0,0,0,0,0,0}
B  = {
        0,0,0,0,0,0}
d  = {
        0,0,d3,0,0,0}
R  = {
        0,0,0,RL4,0,0}
gamma  = {
        0,0,0,0,0,0}
Alpha  = {
        0,Pi/2,0,-Pi/2,Pi/2,-Pi/2}
Mu  = {
        1,1,1,1,1,1}
Theta  = {
        t1,t2,t3,t4,t5,t6}

(* Dynamic parameters and external forces *)
XX = {
        XX1,XX2,XX3,XX4,XX5,XX6}
XY  = {
        XY1,XY2,XY3,XY4,XY5,XY6}
XZ  = {
        XZ1,XZ2,XZ3,XZ4,XZ5,XZ6}
YY  = {
        YY1,YY2,YY3,YY4,YY5,YY6}
YZ  = {
        YZ1,YZ2,YZ3,YZ4,YZ5,YZ6}
ZZ  = {
        ZZ1,ZZ2,ZZ3,ZZ4,ZZ5,ZZ6}
MX  = {
        MX1,MX2,MX3,MX4,MX5,MX6}
MY  = {
        MY1,MY2,MY3,MY4,MY5,MY6}
MZ  = {
        MZ1,MZ2,MZ3,MZ4,MZ5,MZ6}
M  = {
        M1,M2,M3,M4,M5,M6}
IA  = {
        IA1,IA2,IA3,IA4,IA5,IA6}
FV  = {
        FV1,FV2,FV3,FV4,FV5,FV6}
FS  = {
        FS1,FS2,FS3,FS4,FS5,FS6}
FX  = {
        0,0,0,0,0,FX6}
FY  = {
        0,0,0,0,0,FY6}
FZ  = {
        0,0,0,0,0,FZ6}
CX  = {
        0,0,0,0,0,CX6}
CY  = {
        0,0,0,0,0,CY6}
CZ  = {
        0,0,0,0,0,CZ6}

(* Joints velocity and acceleration *)
QP = {
        QP1,QP2,QP3,QP4,QP5,QP6}
QDP  = {
        QDP1,QDP2,QDP3,QDP4,QDP5,QDP6}

(* Speed and acceleration of the base *)
W0 = {
        0,0,0}
WP0  = {
        0,0,0}
V0  = {
        0,0,0}
VP0  = {
        0,0,0}

(* Matrix Z *)
Z = {
        1,0,0,0,0,1,0,0,0,0,
        1,0,0,0,0,1}

(* Acceleration of gravity *)
G = {
        0,0,G3}

(* End of definition *)