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56 lines
1.8 KiB
56 lines
1.8 KiB
%MDL_TWOLINK_MDH Create model of a 2-link mechanism using modified DH convention
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%
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% MDL_TWOLINK_MDH is a script that the workspace variable tl which
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% describes the kinematic and dynamic characteristics of a simple planar
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% 2-link mechanism using modified Denavit-Hartenberg conventions.
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%
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% Also defines the vector:
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% qz corresponds to the zero joint angle configuration.
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%
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% Notes::
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% - SI units of metres are used.
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% - It is a planar mechanism operating in the XY (horizontal) plane and is
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% therefore not affected by gravity.
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%
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% References::
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% - Based on Fig 3.8 (p71) of Craig (3rd edition).
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%
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% See also SerialLink, mdl_onelink, mdl_twolink, mdl_planar2.
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% MODEL: generic, planar, 2DOF, modified_DH
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% Copyright (C) 1993-2015, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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a1 = 1;
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a2 = 1;
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% for MDH parameters we need to implement the second link as a tool
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% transform
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twolink = SerialLink([
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RevoluteMDH('d', 0, 'a', 0, 'alpha', 0)
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RevoluteMDH('d', 0, 'a', a1, 'alpha', 0)
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], ...
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'tool', transl(a2, 0, 0), ...
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'name', 'two link', ...
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'comment', 'from Craig');
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qz = [0 0];
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qn = [pi/6, -pi/6];
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