Calculating Gravity Torque for ABB IRB1410

Can the gravity torque of the ABB IRB1410 with a parallel structure be calculated using the gravityTorque() function of the Robotics System Toolbox?

Answer 1

[Rahul]

Hi HoYoung,

As per my understanding of your question, you want to use the ABB IRB1410 with a parallel structure robot for your task and achieve it's 'gravityTorque' value.

The documentation of ' MATLAB Robotics System Toolbox' and 'loadrobot' function mentions that you can load certain predefined robots and use them for your tasks. However, ABB IRB1410 is not available in their list of predefined robots.

You can know more about the 'loadrobot' function using this Documentation link: https://www.mathworks.com/help/robotics/ref/loadrobot.html

A possible workaround for you to achieve your desired task could be to create your own robot with custom parameters using the ‘rigidBodyTree’ class object.

You can know more about 'rigidBodyTree' class objects using this Documentation link: https://www.mathworks.com/help/robotics/ref/rigidbodytree.html

You can try out the following code for your task:

STEP 1: Set the parametrs and create a robot using 'rigidBodyTree'

% Define the DH parameters and create 6 Links for ABB IRB1410
dhparams = [0, pi/2, 0.352, 0;   
            0.7, 0, 0, 0;       
            0.7, 0, 0, 0;       
            0, pi/2, 0, 0;      
            0, -pi/2, 0, 0;     
            0, 0, 0.1, 0];      
% Create the rigid body tree
robot = rigidBodyTree('DataFormat', 'column', 'MaxNumBodies', 6);

STEP 2: Create Links for the robot using 'rigidBody' and 'rigidBodyJoint' function

for i = 1:size(dhparams, 1)
    body = rigidBody(['body' num2str(i)]);
    joint = rigidBodyJoint(['joint' num2str(i)], 'revolute');
    
    % Set the DH parameters for the joint
    setFixedTransform(joint, dhparams(i,:), 'dh');
    body.Joint = joint;
    
    % Attach the body to the robot
    if i == 1
        addBody(robot, body, 'base');
    else
        addBody(robot, body, ['body' num2str(i-1)]);
    end
end

STEP 3: Define configuration for the robot and obtain its gravityTorque

% Define a sample joint configuration
q = [0; pi/4; pi/4; 0; pi/6; 0];
show(robot, q);
% Obtain the gravityTorque of the robot with the specified configuration
gTau = robot.gravityTorque(q);

The robot appears like this:

OUTPUT

>> gTau

gTau =
     0
     0
     0
     0
     0
     0

You can change the parameters and configurations according to your specific use case. Hope this helps!