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Create model of a ball manipulator
MDL_BALL creates the workspace variable ball which describes the kinematic characteristics of a serial link manipulator that folds into a ball shape. By default has 50 joints.
mdl_ball(n) as above but creates a manipulator with n joints.
Also define the workspace vectors:
q joint angle vector for default ball configuration
SerialLink, mdl_puma560akb, mdl_stanford, mdl_twolink, mdl_coil
© 1990-2012 Peter Corke.