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65 lines
2.1 KiB
65 lines
2.1 KiB
%MDL_TWOLINK Create model of a simple 2-link mechanism
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%
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% mdl_twolink
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%
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% Script creates the workspace variable tl which describes the
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% kinematic and dynamic characteristics of a simple planar 2-link mechanism.
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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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% - 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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% - Assume unit length links with all mass (unity) concentrated at the joints.
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%
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% References::
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% - Based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).
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%
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% See also SerialLink, mdl_puma560, mdl_stanford.
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% Copyright (C) 1993-2011, 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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twolink_dh = [
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% theta d a alpha a sigma m rx ry rz Ixx Iyy Izz Ixy Iyz Ixz Jm G
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0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1
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0 0 1 0 0 1 1 0 0 0 0 0 0 0 0 0 1
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];
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a1 = 1;
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a2 = 1;
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% theta d a alpha
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L(1) = Link([ 0 0 a1 0], 'standard');
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L(2) = Link([ 0 0 a2 0], 'standard');
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L(1).m = 1;
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L(1).r = [-0.5 0 0];
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L(1).I = zeros(3,3);
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L(1).G = 0;
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L(1).Jm = 0;
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L(1).B = 0;
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L(2).m = 1;
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L(2).r = [-0.5 0 0];
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L(2).I = zeros(3,3);
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L(2).G = 0;
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L(2).Jm = 0;
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L(2).B = 0;
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twolink = SerialLink(L, 'name', 'two link', ...
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'comment', 'from Spong, Hutchinson, Vidyasagar');
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qz = [0 0];
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qn = [pi/6, -pi/6];
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