M-File Help: mdl_puma560_3_sym | View code for mdl_puma560_3_sym |
Create model of Puma 560 manipulator
mdl_puma560
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 |
SerialLink, mdl_puma560akb, mdl_stanford, mdl_twolink
© 1990-2012 Peter Corke.