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Updated cog for ur16 how I understand the documentation #504

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Updated cog for ur16 how I understand the documentation #504

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e63b1cf
Updated cog for ur16 how I understand the documentation
fmauch Jun 11, 2020
4b6490a
Define full inertia tensors
fmauch Jul 7, 2020
0cf5a7c
Updated UR10e to use updated cog and full inertia matrix
fmauch Jul 7, 2020
bf45007
Updated UR5e to use updated cog and full inertia matrix
fmauch Jul 7, 2020
93078db
Updated UR3e to use updated cog and full inertia matrix
fmauch Jul 7, 2020
90e61ac
Updated UR10 to use updated cog and full inertia matrix
fmauch Jul 7, 2020
df365e8
Updated UR3 to use updated cog and full inertia matrix
fmauch Jul 7, 2020
61bf26e
Updated UR5 to use updated cog and full inertia matrix
fmauch Jul 7, 2020
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107 changes: 89 additions & 18 deletions ur_description/config/ur10/physical_parameters.yaml
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -53,26 +53,97 @@ inertia_parameters:

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
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
107 changes: 89 additions & 18 deletions ur_description/config/ur10e/physical_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,26 +53,97 @@ inertia_parameters:

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

# 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
109 changes: 90 additions & 19 deletions ur_description/config/ur16e/physical_parameters.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,28 +53,99 @@ inertia_parameters:
radius: 0.045
length: 0.05

center_of_mass: # Adjusted manually
center_of_mass: # model referring to https://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/parameters-for-calculations-of-kinematics-and-dynamics-45257/
shoulder_cog:
x: 0.0
y: 0.00244
z: -0.037
x: 0.0 # model.x
y: -0.030 # -model.z
z: -0.016 # model.y
upper_arm_cog:
x: 0.00001
y: 0.15061
z: 0.38757
x: -0.1764 # model.x - upperarm_length
y: 0.0 # model.y
z: 0.16 # model.z
forearm_cog:
x: -0.00012
y: 0.06112
z: 0.1984
x: -0.166 # model.x - forearm_length
y: 0.0 # model.y
z: 0.065 # model.z
wrist_1_cog:
x: -0.00021
y: -0.00112
z: 0.02269
x: 0.0 # model.x
y: -0.011 # -model.z
z: -0.009 # model.y
wrist_2_cog:
x: -0.00021
y: 0.00112
z: 0.002269
x: 0.0 # model.x
y: 0.012 # model.z
z: -0.018 # -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: -0.044 # 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: 0.03351
ixy: 0.00002
ixz: -0.00001
iyy: 0.03374
iyz: 0.00374
izz: 0.02100
upper_arm:
ixx: 0.02796
ixy: -0.00010
ixz: -0.00720
iyy: 0.47558
iyz: 0.00003
izz: 0.47635
forearm:
ixx: 0.01091
ixy: 0.00006
ixz: 0.01012
iyy: 0.12060
iyz: 0.00001
izz: 0.11714
wrist_1:
ixx: 0.00609
ixy: -0.00001
ixz: 0.0
iyy: 0.00245
iyz: 0.00083
izz: 0.00579
wrist_2:
ixx: 0.00389
ixy: 0.00001
ixz: 0.0
iyy: 0.00219
iyz: -0.00045
izz: 0.00363
wrist_3:
ixx: 0.00117
ixy: 0.0
ixz: 0.0
iyy: 0.00118
iyz: 0.0
izz: 0.00084
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