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Update dynamic properties #195

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merged 7 commits into from
Sep 20, 2024
Merged

Update dynamic properties #195

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9bfb7b2
Remove unused dh_parameters
chalongrath Sep 10, 2024
4bf42f1
Rename prop__wrist_2_cog to prop_wrist_2_cog for consistency
chalongrath Sep 10, 2024
a9b2cb0
Update mass and cog and use full inertia matrix.
chalongrath Sep 10, 2024
cf973ee
Update max_efforts (torque limits)
chalongrath Sep 10, 2024
8dd1caf
Remove trailing whitespaces
urrsk Sep 12, 2024
ac08c46
End of file format fix
urrsk Sep 12, 2024
e9efbdd
Remove code and values that are no longer needed.
chalongrath Sep 19, 2024
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134 changes: 89 additions & 45 deletions config/ur10/physical_parameters.yaml
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Original file line number Diff line number Diff line change
@@ -1,13 +1,5 @@
# Physical parameters

dh_parameters:
d1: 0.1273
a2: -0.612
a3: -0.5723
d4: 0.163941
d5: 0.1157
d6: 0.0922

offsets:
shoulder_offset: 0.220941 # measured from model
elbow_offset: 0.049042 # measured from model
Expand All @@ -16,7 +8,6 @@ inertia_parameters:
base_mass: 4.0 # This mass might be incorrect
shoulder_mass: 7.1
upper_arm_mass: 12.7
upper_arm_inertia_offset: 0.175
forearm_mass: 4.27
wrist_1_mass: 2.0
wrist_2_mass: 2.0
Expand All @@ -32,47 +23,100 @@ inertia_parameters:
base:
radius: 0.075
length: 0.038
shoulder:
radius: 0.075
length: 0.178
upperarm:
radius: 0.075
length: 0.612
forearm:
radius: 0.075
length: 0.5723
wrist_1:
radius: 0.075
length: 0.12
wrist_2:
radius: 0.075
length: 0.09
wrist_3:
radius: 0.045
length: 0.0305

center_of_mass:
shoulder_cog:
x: 0.0
y: 0.00244
z: -0.037
x: 0.021 # model.x
y: -0.027 # -model.z
z: 0.0 # model.y
upper_arm_cog:
x: 0.00001
y: 0.15061
z: 0.38757
x: -0.232 # model.x - upper_arm_length
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y: 0.0 # model.y
z: 0.158 # model.z
forearm_cog:
x: -0.00012
y: 0.06112
z: 0.1984
x: -0.3323 # model.x - forearm_length
y: 0.0 # model.y
z: 0.068 # model.z
wrist_1_cog:
x: -0.00021
y: -0.00112
z: 0.02269
x: 0.0 # model.x
y: -0.018 # -model.z
z: 0.007 # model.y
wrist_2_cog:
x: -0.00021
y: 0.00112
z: 0.002269
x: 0.0 # model.x
y: 0.018 # model.z
z: -0.007 # -model.y
wrist_3_cog:
x: 0.0
y: -0.001156
z: -0.00149
x: 0.0 # model.x
y: 0 # model.y
z: -0.026 # model.z

rotation:
shoulder:
roll: 1.570796326794897
pitch: 0
yaw: 0
upper_arm:
roll: 0
pitch: 0
yaw: 0
forearm:
roll: 0
pitch: 0
yaw: 0
wrist_1:
roll: 1.570796326794897
pitch: 0
yaw: 0
wrist_2:
roll: -1.570796326794897
pitch: 0
yaw: 0
wrist_3:
roll: 0
pitch: 0
yaw: 0

# extracted from URSim
tensor:
shoulder:
ixx: 0.03408
ixy: 0.00002
ixz: -0.00425
iyy: 0.03529
iyz: 0.00008
izz: 0.02156
upper_arm:
ixx: 0.02814
ixy: 0.00005
ixz: -0.01561
iyy: 0.77068
iyz: 0.00002
izz: 0.76943
forearm:
ixx: 0.01014
ixy: 0.00008
ixz: 0.00916
iyy: 0.30928
iyz: 0.0
izz: 0.30646
wrist_1:
ixx: 0.00296
ixy: -0.00001
ixz: 0.0
iyy: 0.00222
iyz: -0.00024
izz: 0.00258
wrist_2:
ixx: 0.00296
ixy: -0.00001
ixz: 0.0
iyy: 0.00222
iyz: -0.00024
izz: 0.00258
wrist_3:
ixx: 0.00040
ixy: 0.0
ixz: 0.0
iyy: 0.00041
iyz: 0.0
izz: 0.00034
6 changes: 3 additions & 3 deletions config/ur10e/joint_limits.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ joint_limits:
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_effort: 54.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
Expand All @@ -64,7 +64,7 @@ joint_limits:
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_effort: 54.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
Expand All @@ -74,7 +74,7 @@ joint_limits:
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_effort: 54.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
134 changes: 89 additions & 45 deletions config/ur10e/physical_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,5 @@
# Physical parameters

dh_parameters:
d1: 0.181
a2: -0.613
a3: -0.571
d4: 0.174 # wrist1_length = d4 - elbow_offset - shoulder_offset
d5: 0.120
d6: 0.117

offsets:
shoulder_offset: 0.1762 # measured from model
elbow_offset: 0.0393 # measured from model
Expand All @@ -16,7 +8,6 @@ inertia_parameters:
base_mass: 4.0 # This mass might be incorrect
shoulder_mass: 7.369
upper_arm_mass: 13.051
upper_arm_inertia_offset: 0.175 # measured from model
forearm_mass: 3.989
wrist_1_mass: 2.1
wrist_2_mass: 1.98
Expand All @@ -32,47 +23,100 @@ inertia_parameters:
base:
radius: 0.075
length: 0.038
shoulder:
radius: 0.075
length: 0.178
upperarm:
radius: 0.075
length: 0.612
forearm:
radius: 0.075
length: 0.57155
wrist_1:
radius: 0.075
length: 0.12
wrist_2:
radius: 0.075
length: 0.12
wrist_3:
radius: 0.045
length: 0.05

# model referring to https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
center_of_mass:
shoulder_cog:
x: 0.0
y: 0.00244
z: -0.037
x: 0.021 # model.x
y: -0.027 # -model.z
z: 0.0 # model.y
upper_arm_cog:
x: 0.00001
y: 0.15061
z: 0.38757
x: -0.2327 # model.x - upper_arm_length
y: 0.0 # model.y
z: 0.158 # model.z
forearm_cog:
x: -0.00012
y: 0.06112
z: 0.1984
x: -0.33155 # model.x - forearm_length
y: 0.0 # model.y
z: 0.068 # model.z
wrist_1_cog:
x: -0.00021
y: -0.00112
z: 0.02269
x: 0.0 # model.x
y: -0.018 # -model.z
z: 0.007 # model.y
wrist_2_cog:
x: -0.00021
y: 0.00112
z: 0.002269
x: 0.0 # model.x
y: 0.018 # model.z
z: -0.007 # -model.y
wrist_3_cog:
x: 0.0
y: -0.001156
z: -0.00149
x: 0.0 # model.x
y: 0.0 # model.y
z: -0.026 # model.z

rotation:
shoulder:
roll: 1.570796326794897
pitch: 0
yaw: 0
upper_arm:
roll: 0
pitch: 0
yaw: 0
forearm:
roll: 0
pitch: 0
yaw: 0
wrist_1:
roll: 1.570796326794897
pitch: 0
yaw: 0
wrist_2:
roll: -1.570796326794897
pitch: 0
yaw: 0
wrist_3:
roll: 0
pitch: 0
yaw: 0

tensor:
shoulder:
ixx: 0.03408
ixy: 0.00002
ixz: -0.00425
iyy: 0.03529
iyz: 0.00008
izz: 0.02156
upper_arm:
ixx: 0.02814
ixy: 0.00005
ixz: -0.01561
iyy: 0.77068
iyz: 0.00002
izz: 0.76943
forearm:
ixx: 0.01014
ixy: 0.00008
ixz: 0.00916
iyy: 0.30928
iyz: 0.0
izz: 0.30646
wrist_1:
ixx: 0.00296
ixy: -0.00001
ixz: 0.0
iyy: 0.00222
iyz: -0.00024
izz: 0.00258
wrist_2:
ixx: 0.00296
ixy: -0.00001
ixz: 0.0
iyy: 0.00222
iyz: -0.00024
izz: 0.00258
wrist_3:
ixx: 0.00040
ixy: 0.0
ixz: 0.0
iyy: 0.00041
iyz: 0.0
izz: 0.00034
6 changes: 3 additions & 3 deletions config/ur16e/joint_limits.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -54,7 +54,7 @@ joint_limits:
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_effort: 54.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
Expand All @@ -64,7 +64,7 @@ joint_limits:
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_effort: 54.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
Expand All @@ -74,7 +74,7 @@ joint_limits:
has_effort_limits: true
has_position_limits: true
has_velocity_limits: true
max_effort: 56.0
max_effort: 54.0
max_position: !degrees 360.0
max_velocity: !degrees 180.0
min_position: !degrees -360.0
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