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38 lines
1.2 KiB
38 lines
1.2 KiB
% Copyright (C) 1993-2013, 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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%%begin
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% We will work with a model of the Puma 560 robot
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mdl_puma560
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% to make the numerical simulation work faster we will remove the non-linear
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% Coloumb friction that exists in the model
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p560 = p560.nofriction()
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% A simple Simulink model that connects a robot dynamics block
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% to a robot plot block
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sl_ztorque
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% The robot has zero applied torque at each joint, so when we run the simulation it
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% will collapse under its own weight
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sim('sl_ztorque')
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