Working the robotics toolbox for a ABB IRB140 serial robot

[mauro_baquero]

Dear Peter Corke...


I bought your book and it is amazing... when i use your toolbox for
analize the differential kinematics and the dynamics for a ABB IRB
140, i have some troubles. In the first case (differential kinematics)
the obtained response is very different to my analitical methods. I
based my analitical models of differential kinematic from the lung wen
tsai book. in the second case (dynamics) i cant simulate and get the
torques for the robot used. At first i set the parameters like mass,
center of gravity and inertal matriz but the functions for dynamics
dont work.

My question is, your matlab algorythms is only for the puma robot or i
can use this toolbox for another serial robots..?


Thanks for your attention...

[Peter Corke]

The most common problem is to do with the kinematic conventions: standard vs modified Denavit-Hartenberg.  A simple test for this is whether the forward kinematics at least give the same answer as you get analytically?  For the differential kinematics are you comparing Jacobians or the velocities for a given pose and joint velocity?   For Jacobians there are various degrees of freedom: the reference coordinate frame and whether it is a spatial velocity or analytic Jacobian.

peter