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dexter.js
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dexter.js
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/*
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dexter.js
*/
module.exports.DexterSim2 = ( function() {
let dexter = {};
dexter.LINK1 = 0.228600; //meters 6.5 inches,
dexter.LINK2 = 0.320676; //meters 12 5/8 inches
dexter.LINK3 = 0.330201; //meters 13 inches
dexter.LINK4 = 0.050801; //meters 2 inches
dexter.LINK5 = 0.082551; //meters 3.25 inches // from pivot point to tip of the end-effector
/*These are the HDI Link Lengths as of Jan 1, 2020:
dexter.LINK1 = 0.2352;
dexter.LINK2 = 0.339092;
dexter.LINK3 = 0.3075;
dexter.LINK4 = 0.0595;
dexter.LINK5 = 0.08244;
*/
dexter.LINK1_v1 = dexter.LINK1 * 1000000; //in microns
dexter.LINK2_v1 = dexter.LINK2 * 1000000; //in microns
dexter.LINK3_v1 = dexter.LINK3 * 1000000; //in microns
dexter.LINK4_v1 = dexter.LINK4 * 1000000; //in microns
dexter.LINK5_v1 = dexter.LINK5 * 1000000; //in microns
dexter.LINK1_AVERAGE_DIAMETER = 0.090000; //meters
dexter.LINK2_AVERAGE_DIAMETER = 0.120000; //meters
dexter.LINK3_AVERAGE_DIAMETER = 0.050000; //meters
dexter.LINK4_AVERAGE_DIAMETER = 0.035000; //meters
dexter.LINK5_AVERAGE_DIAMETER = 0.030000; //meters
dexter.LEG_LENGTH = 0.152400; //meters 6 inches
//values in degrees
dexter.J1_ANGLE_MIN = -150;
dexter.J1_ANGLE_MAX = 150;
dexter.J2_ANGLE_MIN = -90;
dexter.J2_ANGLE_MAX = 90;
dexter.J3_ANGLE_MIN = -150;
dexter.J3_ANGLE_MAX = 150;
dexter.J4_ANGLE_MIN = -130; //-100
dexter.J4_ANGLE_MAX = 130; //100
dexter.J5_ANGLE_MIN = -185;
dexter.J5_ANGLE_MAX = 185;
dexter.J6_ANGLE_MIN = 0;
dexter.J6_ANGLE_MAX = 296;
dexter.J7_ANGLE_MIN = 0;
dexter.J7_ANGLE_MAX = 296;
dexter.MAX_SPEED = 30; //degrees per second. NOT the max speed tha robot,
//but rather for a givien instruction's envelope of speed,
//its the max speed that will be attined by that instrution.
//The JOINT that this is the max speed for is
//the joint that changes the most in a given call to move_all_joints.
dexter.START_SPEED = 0.5;//degrees per second
dexter.ACCELERATION = 0.000129;//degrees/(second^2)
dexter.RIGHT_ANGLE = 90;// 90 degrees
dexter.HOME_ANGLES = [0, 0, 0, 0, 0, 0, 0]; //j2,j3,j4 straight up, link 5 horizontal pointing frontwards.
dexter.NEUTRAL_ANGLES = [0, 45, 90, -45, 0, 0, 0];//lots of room for Dexter to move from here.
dexter.PARKED_ANGLES = [0, 0, 135, 45, 0, 0, 0];//all folded up, compact.
dexter.HOME_POSITION = [[0, 0.08255, 0.866775],[0, 1, 0], [1, 1, 1]];//meters, j5 direction, config
dexter.NEUTRAL_POSITION = [[0, 0.5, 0.075], [0, 0, -1],[1, 1, 1]]; //meters, j5 direction, config
// For now.
dexter.COLOR = 0x505050;
dexter.LINK1_MASS = 2.0;
dexter.LINK2_MASS = 6.0;
dexter.LINK3_MASS = 3.0;
dexter.LINK4_MASS = 0.5;
dexter.LINK5_MASS = 0.5;
// dexter.LINK6_MASS = 0.1;
dexter.LINK6_MASS = 0.2;
// dexter.FINGER_MASS = 0.04;
dexter.FINGER_MASS = 0.00;
dexter.HiRes = { base: null,
link1: null,
link2: null,
link3: null,
link4: null,
link5: null,
link6: null,
// Either of these (but not both) can open
// and close the gripper.
link7: null,
finger: null };
return dexter;
} )();