RoboWorks Version Beta 2.0 CRoboCadView???????????????4C????????????????4C????????????????4C????????????????4C????????????????4C????????????????4C????????????????4C????????????????4C?zDHB,wRobotics Research Dual Arm Start RR17 Isolation 1Move Base of Robot Up so it rests on the XZ Plane???? RR17 TorsoBase Red???333?????B?LightB_{7>????@%@1@#@0@ '@2@? v@v@ Light Blue=L>>?>?fff?????CUBE4P0C????@-%-@?%@=@?5@WEDGEP0C????@&@%?$%@6@$@5@{Gz?= ףp}5@5@4@ TRANSLATION1(@??? ROTATION1F@??? TRANSLATION1@???CUBEP0C????@Fx$&Fx$@?&@Fx4@?6@CUBEdP0C????@#@@!@?$@#@@?"@.@CUBE2P0C????@#@$?!#@@?"@+@WEDGE=P0C????@@!? !@ @ @0@@@@1@CYLINDERB_@2E????@$@"@!@? '@1@ @ @ @@ v@v@DISKPt????@'@"@'@? '@1@ @ @ v@v@CYLINDERB_@2E????@ @"@@? !@1@ @@ @? v@v@CYLINDERB_@2E????@"@`$?` @ 0@@@@`2@ v@v@CYLINDERB_@2E????@&"@Zd(?㥛Y$ 0@@@@"~@ v@v@DISKPt????@("@( @(@-@@@ v@v@ Output of Base in X'@??? Output of Base in Y"@??? Joint One Joint One Rotationff@?$@ rr17_torso_1? Joint two CUBE P0C????@@@@@@@@&@?CUBEP0C????@@@@@&@?CYLINDERB_@2E????@@"@? @'@@#@@@? v@v@DISK???????@@#@@#@"@@#@@ v@v@CYLINDERB_@2E????@@? '@@ @@@0@ v@v@CYLINDERB_@2E????@@"?#'@@ @@? v@v@ ANNULAR DISK???????@@#@#"@@#@@ v@v@CYLINDER???????@@$@% @@#@@? v@v@DISK???????@@%@% @@%@ v@v@ Output of Joint Two@??? Joint two Offset>$@? Joint two Rotation$@ rr17_torso_2?Link Two Red???333?????B?CYLINDER???????@`;@`;@̌%`;@`fffff޿@@@? v@v@ Light Blue=L>>?>?fff?????CYLINDER???????@`;@`;@̌%`;@`fffff޿@@@? v@v@DISK???????@`;@`;@̌#`;@@@ v@v@TRANSFORMATION START1 TRANSLATION127X9v@??? TRANSLATION127??? ROTATION75P@???WEDGE???????@@@@@@?@@TRANSFORMATION STOP1 Joint Three TRANSLATION141??? Joint Three rotation?$@ rr17_torso_3?CYLINDER???????@D,@tX;@"̌5@@@@@Dl-@ v@v@CYLINDER???????@L6@̌5@ 7@@@@@? v@v@DISK???????@ 7@ 7@ 7@@@@ v@v@ Link threeWEDGE???????@D,@$@@$@@4@ @$@CUBE???????@D,@@D"@@$M"3@ @$@$@@4@ Z Offset for Left Arm%??? X OffsetDl+@??? Y offset@???Left ArmTRANSFORMATION START6 ROTATION113V???Robotics Research 7 DOF ARM# This is a DH parameter file for the 7 DOF Robotics Research Rrm # The variable is specified by typing a "var' or a "VAR" in its # field. i.e. If the joint is revolute then it will be in the fourth # coulumn and if the joint is prismatic it will be in the third column # The notation is based on the "Introduction to Robotics, Mechanics and Controls " # book by John Craig. # Alpha(i-1) a(i-1) d(i) theta(i) 0.0 0.0 0.0 var # link 0-1 90.0 -4.25 0.0 var # link 1-2 -90.0 4.25 21.5 var # link 2-3 90.0 -3.125 0.0 var # link 3-4 -90.0 3.125 21.5 var # link 4-5 90.0 -1.937 0.0 var # link 5-6 -90.0 1.937 15.5 var # link 6-7 Carved By Bulent Finci Light Blue=L>>?>?fff?????Main Shoulder Joint A CYLINDER???????@QDlQQ@Dl@Q@@Q@Dl+@ v@v@CYLINDER???????@ @@ @@? v@v@DISK???????@ @ @ @ v@v@CYLINDER???????@ /@Q@QQ@)1 @Q@Q@Q@? v@v@CYLINDER ???????@!!@Qfff&1 @QQ@Yd;"@Q@Q@Q@? v@v@DISK???????@`d;"@Q`d;"@QQ@`d;"@Q@Q@ v@v@ Offset for Links333333???? Offset for Main Shoulder Joint AV@?$@? !Rotation of Main Shoulder Joint A?$@ rr_left_1?CYLINDER???????@n#@Ld;"@@333ʡ$@@@@333333? v@v@DISK???????@ʡ$@ʡ$@@ʡ$@@@ v@v@WEDGEi&k$j????@(@̌L$@@333,@@@@@@@ Locate LinksZd;-@??? Offset@???Shoulder Joint B CYLINDER???????@@@@@@&@dv@v@ Offset Joint 2 by -90V?$@!?CYLINDERĔ&k????@????? v@v@DISK???????@??? v@v@CYLINDERĔ&k????@@@@@? v@v@CYLINDERĔ&k????@@@@@@@@? v@v@DISK???????@@@@@@@ v@v@DISK???????@@@@ v@v@ Rotaion for Shoulder Joint B$@ rr_left_2?TRANSFORMATION START Rotation of the WEDGEf@???WEDGEi&k$j????@ @?@@@@?@@@TRANSFORMATION STOP Locate Links&@??? Offset for Links???Link 1 CYLINDER\&k$]????@@@@@@*@ v@v@DISKa&kda????@@@@ v@v@DISKte&ke????@@@@@@@ v@v@ Red???333?????B?CYLINDER}&kD~????@@@@@@@@? v@v@CYLINDER&kԂ????@@@@@? v@v@ Light Blue=L>>?>?fff?????CYLINDER&k????@@@@@@@@? v@v@CYLINDER䉖&k4????@@@@@? v@v@ Rotate Joint One?$@ rr_left_3?WEDGEi&k$j????@!@333333@ffffff@$@?333333@@@@ @ Locate Joint One$@??? Offset Joint One @??? Joint OneCYLINDER&kd????@@@@@@@ v@v@CYLINDERĔ&k????@@@ @@? v@v@CYLINDER&kD????@@ @@@@@@? v@v@DISK$&kt????@@@@ v@v@DISK&kd????@@@@@@@ v@v@ Rotate Joint Two$@ rr_left_4? Locate Link Two&@??? Bring Back Offset for Link two ???Link 2 WEDGEd&k????@@!?$?@?? @@?WEDGEԼ&k$????@@!$@? @@?CYLINDERі&kdі????@@@@@?-@ v@v@CYLINDERB|\uP@????@`ff ,33!@fff&33@@(\@? v@v@CYLINDERB|\uP@????@@33 @fff@? !@?Q??? v@v@ Red???333?????B?CYLINDERBK????@(\(\(\@(\@(\@Q@? v@v@CYLINDERG&kH????@@= ףp=@= ףp== ףp=?@= ףp=?Q?= ףp=?? v@v@ Light Blue=L>>?>?fff?????DISKTٖ&kٖ????@@33!@33!@@33!@@ v@v@DISKݖ&kޖ????@!@!@?!@?? v@v@ Rotate Joint Three?$@ rr_left_5? Locate Joint Two$@??? Offset Joint twoˡE???? Joint TwoCYLINDER&kT????@333333333333333333?333333?@333333?333333?@ v@v@CYLINDER&k????@333333333333 333333?333333?333333?333333?? v@v@CYLINDER&kd????@@333333333333@333333?333333? @333333?333333?? v@v@DISKD&k????@ 333333333333 333333?333333? 333333? v@v@DISK&k????@ @333333333333 @333333?333333? @333333? v@v@WEDGE&kT????@????@@@ Rotate Joint Four$@ rr_left_6? Locate Joint TwoMbX9 @??? Bring Back Offset for Link threeˡE???Link3CYLINDER???????@333333@333333?@@@333333? v@v@CYLINDER???????@@33? ?@333sff?@@@333333? v@v@CYLINDER???????@@33333sff@ @@@333333? v@v@CYLINDER???????@ X9@@r?? X9@???? v@v@ Red???333?????B?CYLINDER???????@?@33?@?@@@? v@v@CYLINDER???????@@@33@@@? v@v@ Light Blue=L>>?>?fff?????DISK???????@ r? r?@ r?@@ v@v@DISK???????@ r r@ r@@ v@v@WEDGE???????@@??@???@?WEDGE???????@@@??@? Rotate Joint Five?$@ rr_left_7?CYLINDER???????@ X9@ X9@@ X9@@@@? v@v@DISK???????@ X9@ X9@@ X9@@@ v@v@DISK???????@ X9@ X9@@ X9@@@ v@v@ Translation of GripperMbX9@???Gripper Ruby!2>@<@<?>?i)=i)=?Q:?c ?c ???B?CYLINDER$???????@@33?zz@Q?@@?ףp= ? v@v@ TRANSLATION333333????CYLINDER???????@@33?@333??333 @???ffffff @ v@v@DISK???????@ @ @? @?? v@v@TRANSFORMATION START Gripper Move??rr_left_gripper?CUBE???????@@`ff @?@п@333cff@????CUBE???????@?@333?lff@пfff@333@??333333??CUBE???????@@33?@33@ ?fff@п933@@??ffffff @?TRANSFORMATION STOPTRANSFORMATION START Gripper Move?rr_left_gripper?CUBE???????@`ff @@п333cff@????CUBE???????@@ffflff@п333333@??333333??CUBE???????@@33@33@933fff@п @??ffffff @?TRANSFORMATION STOPTRANSFORMATION STOP32 Z Offset for Right Arm5@??? Right ArmTRANSFORMATION START131 ROTATION113V???Robotics Research 7 DOF ARM# This is a DH parameter file for the 7 DOF Robotics Research Rrm # The variable is specified by typing a "var' or a "VAR" in its # field. i.e. If the joint is revolute then it will be in the fourth # coulumn and if the joint is prismatic it will be in the third column # The notation is based on the "Introduction to Robotics, Mechanics and Controls " # book by John Craig. # Alpha(i-1) a(i-1) d(i) theta(i) 0.0 0.0 0.0 var # link 0-1 90.0 -4.25 0.0 var # link 1-2 -90.0 4.25 21.5 var # link 2-3 90.0 -3.125 0.0 var # link 3-4 -90.0 3.125 21.5 var # link 4-5 90.0 -1.937 0.0 var # link 5-6 -90.0 1.937 15.5 var # link 6-7 Carved By Bulent Finci Light Blue=L>>?>?fff?????Main Shoulder Joint A CYLINDER???????@QDlQQ@Dl@Q@@Q@Dl+@ v@v@CYLINDER???????@ @@ @@? v@v@DISK???????@ @ @ @ v@v@CYLINDER???????@ /@Q@QQ@)1 @Q@Q@Q@? v@v@CYLINDER ???????@!!@Qfff&1 @QQ@Yd;"@Q@Q@Q@? v@v@DISK???????@`d;"@Q`d;"@QQ@`d;"@Q@Q@ v@v@ Offset for Links333333???? !Offset for Main Shoulder Joint AV??? !Rotation of Main Shoulder Joint A?$@ rr_right_1?CYLINDER???????@n#@Ld;"@@333ʡ$@@@@333333? v@v@DISK???????@ʡ$@ʡ$@@ʡ$@@@ v@v@WEDGEi&k$j????@(@̌L$@@333,@@@@@@@ Locate LinksZd;-@??? Offset@???Shoulder Joint B CYLINDER???????@@@@@@&@dv@v@ Offset Joint 2 by -90V?$@!?CYLINDERĔ&k????@????? v@v@DISK???????@??? v@v@CYLINDERĔ&k????@@@@@? v@v@CYLINDERĔ&k????@@@@@@@@? v@v@DISK???????@@@@@@@ v@v@DISK???????@@@@ v@v@ Rotaion for Shoulder Joint B$@ rr_right_2?TRANSFORMATION START Rotation of the WEDGEf@???WEDGEi&k$j????@ @?@@@@?@@@TRANSFORMATION STOP Locate Links&@??? Offset for Links???Link 1 CYLINDER\&k$]????@@@@@@*@ v@v@DISKa&kda????@@@@ v@v@DISKte&ke????@@@@@@@ v@v@ Red???333?????B?CYLINDER}&kD~????@@@@@@@@? v@v@CYLINDER&kԂ????@@@@@? v@v@ Light Blue=L>>?>?fff?????CYLINDER&k????@@@@@@@@? v@v@CYLINDER䉖&k4????@@@@@? v@v@ Rotate Joint One?$@ rr_right_3?WEDGEi&k$j????@!@333333@ffffff@$@?333333@@@@ @ Locate Joint One$@??? Offset Joint One @??? Joint OneCYLINDER&kd????@@@@@@@ v@v@CYLINDERĔ&k????@@@ @@? v@v@CYLINDER&kD????@@ @@@@@@? v@v@DISK$&kt????@@@@ v@v@DISK&kd????@@@@@@@ v@v@ Rotate Joint Two$@  rr_right_4? Locate Link Two&@??? Bring Back Offset for Link two ???Link 2 WEDGEd&k????@@!?$?@?? @@?WEDGEԼ&k$????@@!$@? @@?CYLINDERі&kdі????@@@@@?-@ v@v@CYLINDERB|\uP@????@`ff ,33!@fff&33@@(\@? v@v@CYLINDERB|\uP@????@@33 @fff@? !@?Q??? v@v@ Red???333?????B?CYLINDERB????@= (\= (\(\@= (\@(\@Q@? v@v@CYLINDERG&kH????@@= ףp=@= ףp== ףp=?@= ףp=?Q?= ףp=?? v@v@ Light Blue=L>>?>?fff?????DISKTٖ&kٖ????@@33!@33!@@33!@@ v@v@DISKݖ&kޖ????@!@!@?!@?? v@v@ Rotate Joint Three?$@! rr_right_5? Locate Joint Two$@??? Offset Joint twoˡE???? Joint TwoCYLINDER&kT????@333333333333333333?333333?@333333?333333?@ v@v@CYLINDER&k????@333333333333 333333?333333?333333?333333?? v@v@CYLINDER&kd????@@333333333333@333333?333333? @333333?333333?? v@v@DISKD&k????@ 333333333333 333333?333333? 333333? v@v@DISK&k????@ @333333333333 @333333?333333? @333333? v@v@WEDGE&kT????@????@@@ Rotate Joint Four$@" rr_right_6? Locate Joint TwoMbX9 @??? Bring Back Offset for Link threeˡE???Link3CYLINDER???????@333333@333333?@@@333333? v@v@CYLINDER???????@@33? ?@333sff?@@@333333? v@v@CYLINDER???????@@33333sff@ @@@333333? v@v@CYLINDER???????@ X9@@r?? X9@???? v@v@ Red???333?????B?CYLINDER???????@?@33?@?@@@? v@v@CYLINDER???????@@@33@@@? v@v@ Light Blue=L>>?>?fff?????DISK???????@ r? r?@ r?@@ v@v@DISK???????@ r r@ r@@ v@v@WEDGE???????@@??@???@?WEDGE???????@@@??@? Rotate Joint Five?$@# rr_right_7?CYLINDER???????@ X9@ X9@@ X9@@@@? v@v@DISK???????@ X9@ X9@@ X9@@@ v@v@DISK???????@ X9@ X9@@ X9@@@ v@v@ Translation of GripperMbX9@???Gripper Ruby!2>@<@<?>?i)=i)=?Q:?c ?c ???B?CYLINDER$???????@@33?zz@Q?@@?ףp= ? v@v@ TRANSLATION333333????CYLINDER???????@@33?@333??333 @???ffffff @ v@v@DISK???????@ @ @? @?? v@v@TRANSFORMATION START Gripper Move??rr_right_gripper?CUBE???????@@`ff @?@п@333cff@????CUBE???????@?@333?lff@пfff@333@??333333??CUBE???????@@33?@33@ ?fff@п933@@??ffffff @?TRANSFORMATION STOPTRANSFORMATION START Gripper Move?rr_right_gripper?CUBE???????@`ff @@п333cff@????CUBE???????@@ffflff@п333333@??333333??CUBE???????@@33@33@933fff@п @??ffffff @?TRANSFORMATION STOPTRANSFORMATION STOP137Stop RR17 Isolation