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Create model of Puma 560 manipulator
mdl_puma560akbScript 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 |
SerialLink, mdl_puma560, mdl_stanford, mdl_twolink
© 1990-2011 Peter Corke.