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Fixed the Panda model to have the correct tool offset #72

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Fixed the Panda model to have the correct tool offset #72

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10 changes: 7 additions & 3 deletions models/mdl_panda.m
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,11 @@
deg = pi/180;
mm = 1e-3;

d7 = 107*mm;
flange = 107*mm;
tool_offset = 58.4*mm;

# The transform has the tools two fingers aligned in the x-axis
tool = transl([0 0 tool_offset]) * trotz(-pi/4);

%% Define links (thanks Alex Smith for this code)
L1 = RevoluteMDH('a', 0.0, 'd', 0.333, 'alpha', 0.0, 'qlim', [-2.8973 2.8973], ...
Expand All @@ -62,11 +66,11 @@
'm', 1.225946, 'r', [-1.1953e-02 4.1065e-02 -3.8437e-02], 'I', [3.55490e-02 2.94740e-02 8.62700e-03 -2.11700e-03 2.29000e-04 -4.03700e-03], 'G', 1);
L6 = RevoluteMDH('a', 0.0, 'd', 0.0, 'alpha', pi/2, 'qlim', [-0.0175 3.7525], ...
'm', 1.666555, 'r', [6.0149e-02 -1.4117e-02 -1.0517e-02], 'I', [1.96400e-03 4.35400e-03 5.43300e-03 1.09000e-04 3.41000e-04 -1.15800e-03], 'G', 1);
L7 = RevoluteMDH('a', 0.088, 'd', 0.0, 'alpha', pi/2, 'qlim', [-2.8973 2.8973], ...
L7 = RevoluteMDH('a', 0.088, 'd', flange, 'alpha', pi/2, 'qlim', [-2.8973 2.8973], ...
'm', 7.35522e-01, 'r', [1.0517e-02 -4.252e-03 6.1597e-02 ], 'I', [1.25160e-02 1.00270e-02 4.81500e-03 -4.28000e-04 -7.41000e-04 -1.19600e-03], 'G', 1);

%% Create SerialLink object
robot = SerialLink([L1 L2 L3 L4 L5 L6 L7], 'name', 'PANDA', 'manufacturer', 'Franka-Emika', 'tool', transl([0 0 d7]));
robot = SerialLink([L1 L2 L3 L4 L5 L6 L7], 'name', 'PANDA', 'manufacturer', 'Franka-Emika', 'tool', tool);

qz = [0 0 0 0 0 0 0];
qr = [0 -90 -90 90 0 -90 90]*deg;
Expand Down