%% Dynamic parameters of the robot

%After searching for ABB_IRB4600 dynamics parameters in the internet and in 'arte'
Library.
%I could'nt find ABB_IRB4600 dynamics parameters but I could find another.
%ABB IRB_2400 robot looks quite like mine.
%total mass of ABB IRB_4600=412kg
%total mass of ABB IRB_2400=383kg
%so I took:
%masses=[3 269 60 30 20 1]
%%COM of each link with respect to own reference system
% =[0 0.05 0; %(rx, ry, rz) link 1
% -0.550 0 0.020; %(rx, ry, rz) link 2
% 0 0 0; %(rx, ry, rz) link 3
% 0 -0.3775 0; %(rx, ry, rz) link 4
% 0 0 0; %(rx, ry, rz) link 5
% 0 0 0.032]; %(rx, ry, rz) link 6
%Inertia matrices of each link ,Ixx Iyy Izz Ixy Iyz Ixz, for each row
%Inertia=[0 0.35 0 0 0 0;.13 .524 .539 0 0 0;.066 .086 .0125 0 0
0;1.8e-3 1.3e-3 1.8e-3 0 0 0;.3e-3 .4e-3 .3e-3 0 0 0;.15e-3 .15e-3 .04e-
3 0 0 0];
%gears ratio was takes from scintefic paper from Nerwygian University
% g11 = -125.070999;
% g22 = 171.000000;
% g33 = 142.929001;
% g44 = -60.000000;
% g55 = 66.894699;
% g66 = -50.000000;
%%
L(1).m=3;
L(2).m=269;
L(3).m=60;
L(4).m=30;
L(5).m=20;
L(6).m=1;
%%
L(1).r=[0 0.05 0];
L(2).r=[-0.550 0 0.020];
L(3).r=[0 0 0];
L(4).r=[0 -0.3775 0];
L(5).r=[0 0 0];
L(6).r=[0 -0.3775 0];
%%
L(1).I=[0 ,0.35 ,0];
L(2).I=[.13 .524 .539];
L(3).I=[.066 .086 .0125];
L(4).I=[1.8e-3 1.3e-3 1.8e-3];
L(5).I=[.3e-3 .4e-3 .3e-3];
L(6).I=[.15e-3 .15e-3 .04e-3];
%%
L(1).G=-125.070999;
L(2).G=171.000000;
L(3).G=142.929001;
L(4).G=-60.000000;
L(5).G=66.894699;
L(6).G=-50.000000;
%%
%Motor inertias are supposed
L(1).Jm=8.0700e-07;
L(2).Jm=8.0700e-07;
L(3).Jm=8.0700e-07;
L(4).Jm=8.0700e-07;
L(5).Jm=8.0700e-07;
L(6).Jm=8.0700e-07;