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mdl_puma560akb

Create model of Puma 560 manipulator

mdl_puma560akb

Script creates the workspace variable p560m which describes the kinematic and dynamic characterstics of a Unimation Puma 560 manipulator modified DH conventions.

Also defines the workspace vectors:

qz zero joint angle configuration
qr vertical 'READY' configuration
qstretch arm is stretched out in the X direction

References

See also

SerialLink, mdl_puma560, mdl_stanford, mdl_twolink


 

© 1990-2012 Peter Corke.