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mdl_puma560

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

Reference

P. Corke and B. Armstrong-Helouvry,
Proc. IEEE Int. Conf. Robotics and Automation, (San Diego),
pp. 1608-1613, May 1994.

See also

SerialLink, mdl_puma560akb, mdl_stanford, mdl_twolink


 

© 1990-2011 Peter Corke.