IKfast for ABB irb120

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IKfast for ABB irb120

avishais
Hi,
I am trying to build an XML file for the ABB IRB120 arm. I am new to this and would appreciate some help. My problem is in the forth joint and link 3 of the arm where there is translation in two directions. When I write the xml as follows, because of the translation <149.6 0 70>, the rotation about the x-axis in joint 4 is with a radius of 70 (not supposed to be). Basically, I need the rotation about the x-axis of the translated frame and not the previous one. I tried using an anchor in joint 4 at <149.6 0 70> but it fails to produce a solution (error).
I hope my problem is understood. Also added the scheme of the arm.

Thank you for the help.

<?xml version="1.0" encoding="utf-8"?>
<Robot name="ABB_IRB120">

 
  <KinBody name="ABB">
   <Body name="base" type="dynamic">
    <Translation>0 0 0</Translation>
   </Body>

 
   <Body name="link0" type="dynamic">
    <offsetfrom>base</offsetfrom>
    <Translation>0 0 290</Translation>
   </Body>

 
   <Joint name="b0" type="hinge">
    <Body>base</Body>
    <Body>link0</Body>
    <offsetfrom>base</offsetfrom>
    <axis>0 0 1</axis>
    <anchor>0 0 0</anchor>
   </Joint>       

 
   <Body name="link1" type="dynamic">
    <offsetfrom>link0</offsetfrom>
    <Translation>0 0 0</Translation>
   </Body>

 
   <Joint name="01" type="hinge">
    <Body>link0</Body>
    <Body>link1</Body>
    <offsetfrom>link0</offsetfrom>
    <axis>0 1 0</axis>
   </Joint>

 
   <Body name="link2" type="dynamic">
    <offsetfrom>link1</offsetfrom>
    <Translation>0 0 270</Translation>
   </Body>

 
   <Joint name="12" type="hinge">
    <Body>link1</Body>
    <Body>link2</Body>
    <offsetfrom>link1</offsetfrom>
    <axis>0 1 0</axis>
   </Joint>

 
   <Body name="link3" type="dynamic">
    <offsetfrom>link2</offsetfrom>
    <Translation>149.6 0 70</Translation> 
   </Body>

 
   <Joint name="23" type="hinge">
    <Body>link2</Body>
    <Body>link3</Body>
    <offsetfrom>link2</offsetfrom>
    <axis>1 0 0</axis>
   </Joint>

 
   <Body name="link4" type="dynamic">
    <offsetfrom>link3</offsetfrom>
    <Translation>152.4 0 0</Translation>
   </Body>

 
   <Joint name="34" type="hinge">
    <Body>link3</Body>
    <Body>link4</Body>
    <offsetfrom>link3</offsetfrom>
    <axis>0 1 0</axis>
   </Joint>

 
   <Body name="link5" type="dynamic">
    <offsetfrom>link4</offsetfrom>
    <Translation>132 0 0</Translation>
   </Body>

 
   <Joint name="45" type="hinge">
    <Body>link4</Body>
    <Body>link5</Body>
    <offsetfrom>link4</offsetfrom>
    <axis>1 0 0</axis>
   </Joint>

  </KinBody>
</Robot>

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