Scilab Script
Last update : October 2007

rt_twolink - load kinematic and dynamic data for a simple 2-link RR planar[view code]

Calling Sequence

exec <PATH>/models/rt_twolink.sce;


This Scilab script creates the robot object tl which describes the kinematic and dynamic characteristics of a simple two-link planar manipulator. The manipulator operates in the horizontal (X-Y) plane and is therefore not influenced by gravity. Mass is assumed to be concentrated at the joints. All masses and lengths are unity.

Also defines the joint coordinate vectors qz corresponding to the zero-angle pose.


   // load Puma 560 parameters
   exec <PATH>/models/rt_twolink.sce;
   disp(tl);                                     // display the robot

   // show it at qz pose
   h0 = scf(0); a0 = h0.children;
   a0.tight_limits = "on"; a0.rotation_angles = [0, -90];

   disp(qz);                                    // QZ
   disp(rt_fkine(tl, qz));
   rt_plot(tl, qz);


See Also

rt_robot,  rt_puma560,  rt_puma560akb,  rt_stanford,  


original Matlab version by

Peter I. Corke CSIRO Manufacturing Science and Technology

Scilab implementation by

Matteo Morelli Interdepartmental Research Center "E. Piaggio", University of Pisa


Corke, P.I. "A Robotics Toolbox for MATLAB", IEEE Robotics and Automation Magazine, Volume 3(1), March 1996, pp. 24-32

Fig. 3-6 of "Robot Dynamics and Control", by M.W. Spong and M. Vidyasagar, 1989.

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