add joint limits from spec sheet
@@ -13,6 +13,9 @@ class Orion5(DHRobot):
mm = 1e-3
deg = pi / 180
+ # details from https://rawrobotics.com.au/orion5
+ # User Manual at https://drive.google.com/file/d/0B6_9_-ZgiRdTNkVqMEkxN2RSc2c/view
+
h = 53.0 * mm
r = 30.309 * mm
l2 = 170.384 * mm
@@ -25,9 +28,12 @@ class Orion5(DHRobot):
# Turret, Shoulder, Elbow, Wrist, Claw
links = [
RevoluteDH(d=h, a=0, alpha=90 * deg), # Turret
- RevoluteDH(d=0, a=l2, alpha=0), # Shoulder
- RevoluteDH(d=0, a=-l3, alpha=0), # Elbow
- RevoluteDH(d=0, a=l4+c, alpha=0) # Wrist
+ RevoluteDH(d=0, a=l2, alpha=0, # Shoulder
+ qlim=[10 * deg, 122.5 * deg] ),
+ RevoluteDH(d=0, a=-l3, alpha=0, # Elbow
+ qlim=[20 * deg, 340 * deg]),
+ RevoluteDH(d=0, a=l4+c, alpha=0, # Wrist
+ qlim=[45 * deg, 315 * deg])
]
super().__init__(
