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mdl_p8

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

See also

SerialLink, mdl_puma560


 

© 1990-2012 Peter Corke.