##040003148105814300002
*
* Compile mechanism for irb660_r01
*
begin COMPONENT irb660_r01
	no_of_joints		15
	no_of_loops		3
	TCP_link_name		link6
	user_TCP :
-1	0	0	1910	
0	1	0	0.000314	
0	0	-1	1832.997681	
0	0	0	1	
	inverse_family	-1
	base_name		k1

	begin LINK link1
		joint_from	k1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j1
		axis_points	0 0 0 , 0 0 400
		param_index	0
		joint_type	rot
		user_value	0
		range		-180 180
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link2
		joint_from	link1
		transformation_to_father :
1	0	0	-0.000945	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j2
		axis_points	300 0 800 , 300 400 800
		param_index	1
		joint_type	rot
		user_value	0
		range		-42 85
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link3
		joint_from	link2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	-0.000174	
0	0	0	1	
		joint_name	j3
		axis_points	300 0 2080 , 300 400 2080
		param_index	2
		joint_type	rot
		user_value	0
		dependent range on joint	j2
		extreme		-42	22 ;
		extreme		-42	70 ;
		extreme		50	70 ;
		extreme		85	35 ;
		extreme		85	-70 ;
		extreme		50	-70
		max_speed	90
		max_acceleration	90
	end;

	begin LINK link5
		joint_from	link3
		transformation_to_father :
1	0	0	0.000551	
0	1	0	-0.000314	
0	0	1	0.001572	
0	0	0	1	
		joint_name	j5
		axis_points	1650 400 2080 , 1650 0.000305 2080
		param_index	3
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = (T(j3)+T(j2))" 
	end;

	begin LINK link6
		joint_from	link5
		transformation_to_father :
1	0	0	0.000122	
0	1	0	0	
0	0	1	0.000488	
0	0	0	1	
		joint_name	j6
		axis_points	1910 0 2080 , 1910 0 1500
		param_index	4
		joint_type	rot
		user_value	0
		range		-300 300
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k2
		joint_from	link3
		transformation_to_father :
1	0	0	-0.000124	
0	1	0	0	
0	0	1	0.001392	
0	0	0	1	
		joint_name	j7
		axis_points	300 0 2080 , 300 400 2080
		param_index	5
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k3
		joint_from	k2
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0.000875	
0	0	0	1	
		joint_name	j8
		axis_points	644.720032 -169.75 2369.254395 , 644.720032 230.25 2369.254395
		param_index	6
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k5
		joint_from	link2
		transformation_to_father :
1	0	0	0.000945	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j10
		axis_points	300 0 800 , 300 400 800
		param_index	7
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k6
		joint_from	k5
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j11
		axis_points	-200 -35 800 , -200 365 800
		param_index	8
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k4
		joint_from	link1
		transformation_to_father :
1	0	0	0	
0	1	0	0	
0	0	1	0	
0	0	0	1	
		joint_name	j13
		axis_points	-117.232727 -387.495361 968.572937 , -117.232727 12.504639 968.572937
		param_index	9
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
		function "curr = T(j2)" 
	end;

	begin LINK k7
		joint_from	link1
		transformation_to_father :
1	0	0	-0.000547	
0	1	0	0	
0	0	1	0.000154	
0	0	0	1	
		joint_name	j14
		axis_points	339.668304 296 1082.233032 , 339.668304 696 1082.233032
		param_index	10
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin LINK k8
		joint_from	k7
		transformation_to_father :
1	0	0	0	
0	1	0	0.000122	
0	0	1	-0.000122	
0	0	0	1	
		joint_name	j15
		axis_points	337.885498 269.256714 1126.990967 , 303.530273 269.257111 1991.308594
		param_index	11
		joint_type	prism
		user_value	0
		range		no limits
		max_speed	1000
		max_acceleration	1000
	end;

	begin CLOSE_LOOP k8
		joint_from	link2
		transformation_to_father :
1	0	0	0.000399	
0	1	0	0.000122	
0	0	1	0	
0	0	0	1	
		joint_name	j16
		axis_points	300 0 2080 , 300 400 2080
		param_index	12
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin CLOSE_LOOP link3
		joint_from	k6
		transformation_to_father :
1	0	0	-0.001002	
0	1	0	0	
0	0	1	-0.000161	
0	0	0	1	
		joint_name	j12
		axis_points	-199.999466 -35 2080 , -199.999466 365 2080
		param_index	13
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end;

	begin CLOSE_LOOP k3
		joint_from	link5
		transformation_to_father :
1	0	0	-0.000771	
0	1	0	0.000375	
0	0	1	0.000694	
0	0	0	1	
		joint_name	j9
		axis_points	1994.719971 -169.744202 2369.254395 , 1994.719971 230.255798 2369.254395
		param_index	14
		joint_type	rot
		user_value	0
		range		no limits
		max_speed	90
		max_acceleration	90
	end

end
