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Update dynamic properties (#195)
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* Remove unused dh_parameters
* Rename prop__wrist_2_cog to prop_wrist_2_cog for consistency
* Update mass and cog and use full inertia matrix.
* Update max_efforts (torque limits)
* Remove code and values that are no longer needed.

---------

Co-authored-by: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
(cherry picked from commit 60e6974)
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@chalongrath @mergify
chalongrath authored and mergify[bot] committed Sep 20, 2024
1 parent 21d5bfc commit 8ecc89e
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Showing 16 changed files with 975 additions and 492 deletions.
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
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
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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
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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