motomanhp6.m

Robot tool box - provides many functions that are useful in robotics including such things as kinem

%MotomanHP6  Load kinematic data for a Motoman HP6 manipulator
%
%	MotomanHP6
%
% Defines the object 'R' in the current workspace which describes the 
% kinematic characterstics of a Motoman HP6 manipulator
% using standard DH conventions.
%
% Also define the vector q0 which corresponds to the zero position.
%
%Wynand Swart
%Mega Robots CC, P/O Box 8412, Pretoria, 0001, South Africa
%Cell: 073-1555-430
[e-mail]
%30 Sep 2007
%Motoman HP robot

%##########################################################
L1 = link([ -pi/2   0.15     0   0            0]);
L2 = link([ -pi     0.57     0   0            0]);
L3 = link([ -pi/2   0.155    0   0            0]);
L4 = link([  pi/2   0        0   -0.635       0]);
L5 = link([ -pi/2   0        0   0            0]);
L6 = link([  pi     0        0  -0.095        0]);
%##########################################################
%Pose 0; At ZERO position
%##########################################################
q0 =[0   -pi/2   0   0   -pi/2   0];
R=robot({L1 L2 L3 L4 L5 L6});
R.name='Motoman HP6';
%##########################################################