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mdl_puma560_3

Create model of Puma 560 manipulator

mdl_puma560_3

Script creates the workspace variable p560 which describes the kinematic and dynamic characteristics of a Unimation Puma 560 manipulator using standard DH conventions. The model includes armature inertia and gear ratios.

Also define the workspace vectors:

qz zero joint angle configuration
qr vertical 'READY' configuration
qstretch arm is stretched out in the X direction
qn arm is at a nominal non-singular configuration

Reference

See also

SerialLink, mdl_puma560akb, mdl_stanford, mdl_twolink


 

© 1990-2012 Peter Corke.