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Create model of Puma robot on an XY base
mdl_p8
Script creates the workspace variable p8 which is an 8-axis robot comprising a Puma 560 robot on an XY base. Joints 1 and 2 are the base, joints 3-8 are the robot arm.
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 |
© 1990-2012 Peter Corke.