rt_twolink - load kinematic and dynamic data for a simple 2-link RR planar[view code]
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);
rt_robot, rt_puma560, rt_puma560akb, rt_stanford,
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.