twolink.m

robot toolbox很多不全面

%TWOLINK Load kinematic and dynamic data for a simple 2-link mechanism
%
%	TWOLINK
%
% Defines the object 'tl' in the current workspace which describes the 
% kinematic and dynamic characterstics of a simple planar 2-link mechanism.
%
% Example based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).  
% It is a planar mechanism operating in the XY (horizontal) plane and is 
% therefore not affected by gravity.
%
% Assume unit length links with all mass (unity) concentrated at the joints.
%
% Also define the vector qz = [0 0] which corresponds to the zero joint
% angle configuration.
%
% See also: DH, DYN, PUMA560, PUMA560AKB, STANFORD.

% $Log: twolink.m,v $
% Revision 1.2  2002/04/01 11:47:20  pic
% General cleanup of code: help comments, see also, copyright, remnant dh/dyn
% references, clarification of functions.
%
% $Revision: 1.2 $
% Copyright (C) 2000-2002, by Peter I. Corke

twolink_dh = [
% alpha A	theta	D	sigma	m	rx	ry	rz	Ixx	Iyy	Izz	Ixy	Iyz	Ixz	Jm	G
  0     1         0     0         0     1       1       0       0       0       0       0       0       0       0        0      1
  0     1         0     0         0     1       1       0       0       0       0       0       0       0       0        0      1
];

tl = robot(twolink_dh);
tl.name = 'Simple two link';
qz = [0 0];