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<div class="title">all_supported_robot_models.md</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> Here we list all the supported robot model structures.</div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> # Type 61</div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> The posture in the picture is the robot's zero pose.<br></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> The typical robots of this structure are **lm3**, **extended version lm3**.</div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> The typical modified DH parameter table:</div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> | Joint(i) | theta(i) | d(i) | a(i-1) | alpha(i-1) |</div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> | :------: | :------: | :-----: | :----: | :--------: |</div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> | 1 | 0 | 0.21583 | 0 | 0 |</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> | 2 | 0 | 0 | | PI |</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> | 3 | 0 | 0 | -0.28 | 0 |</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> | 4 | 0 | 0.12063 | -0.26 | 0 |</div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> | 5 | 0 | 0.09833 | 0 | PI/2 |</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> | 6 | 0 | 0.08343 | 0 | -PI/2 |</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> The typical link dynamic parameter table:</div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> </div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> | Link(i) | Mass | Center of Gravity | Inertia Matrix [Ixx,Iyy,Izz,Ixy,Ixz,Iyz] |</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> | :-----: | :---: | :-----------------: | :----------------------------------------------: |</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> | 1 | 2.147 | [0, -0.011, -0.015] | [0.008239,0.007609,0.003257,0,0,0.0003238] |</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> | 2 | 1.972 | [-0.134, 0, 0.094] | [0.001713,0.03361,0.03385,0,0.00007375,0] |</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> | 3 | 1.668 | [-0.102, 0, 0.019] | [0.001709,0.02256,0.02238,0,-0.002751,0] |</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> | 4 | 0.969 | [0, 0.011, -0.039] | [0.001874,0.001781,0.0007962,0,0,-0.0004004] |</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> | 5 | 0.969 | [0, -0.011, -0.039] | [0.001874,0.001781,0.0007962,0,0,0.0004004] |</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> | 6 | 0.584 | [0, 0, -0.049] | [0.0005043,0.0005156,0.0005156.0004119313,0,0,0] |</div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <br></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> </div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> # Type 51</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> TODO Add a picture.</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> </div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> The typical robots of this structure are **5 joint lm3**, a tricky modification of **lm3** (remove last joint and link).</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> The typical modified DH parameter table:</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> | Joint(i) | theta(i) | d(i) | a(i-1) | alpha(i-1) |</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> | :------: | :------: | :-----: | :----: | :--------: |</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> | 1 | 0 | 0.21583 | 0 | 0 |</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> | 2 | 0 | 0 | 0 | $\pi/2$ |</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> | 3 | 0 | 0 | -0.38 | 0 |</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> | 4 | 0 | 0.12063 | -0.355 | 0 |</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> | 5 | 0 | 0.08343 | 0 | $\pi/2$ |</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> The typical link dynamic parameter table:</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> | Link(i) | Mass | Center of Gravity | Inertia Matrix [Ixx,Iyy,Izz,Ixy,Ixz,Iyz] |</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> | :-----: | :-----: | :-----------------------: | :--------------------------------------: |</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> | 1 | 2.31 | [0, -0.004834, -0.008972] | [0.0093,0.00913,0.00303,0,0,0] |</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> | 2 | 2.1612 | [-0.18435, 0, 0.09428] | [0.0211,0.1554,0.13643,0,0.03767,0] |</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> | 3 | 1.8508 | [-0.14386, 0, 0.01892] | [0.002519,0.08222,0.08138,0,0.00121,0] |</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> | 4 | 0.93256 | [0, 0.011, -0.03772] | [0.0032645,0.003061,0.000866,0,0,0] |</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> | 5 | 0.5782 | [0, 0, -0.04882] | [0.001883,0.0018889,0.000404,0,0,0] |</div></div><!-- fragment --></div><!-- contents -->
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