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twolink

PURPOSE ^

TWOLINK Load kinematic and dynamic data for a simple 2-link mechanism

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

TWOLINK Load kinematic and dynamic data for a simple 2-link mechanism

    TWOLINK

 Defines the object 'tl' in the current workspace which describes the 
 kinematic and dynamic characterstics of a simple planar 2-link mechanism.

 Example based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).  
 It is a planar mechanism operating in the XY (horizontal) plane and is 
 therefore not affected by gravity.

 Assume unit length links with all mass (unity) concentrated at the joints.

 Also define the vector qz = [0 0] which corresponds to the zero joint
 angle configuration.

 See also: DH, DYN, PUMA560, PUMA560AKB, STANFORD.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %TWOLINK Load kinematic and dynamic data for a simple 2-link mechanism
0002 %
0003 %    TWOLINK
0004 %
0005 % Defines the object 'tl' in the current workspace which describes the
0006 % kinematic and dynamic characterstics of a simple planar 2-link mechanism.
0007 %
0008 % Example based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).
0009 % It is a planar mechanism operating in the XY (horizontal) plane and is
0010 % therefore not affected by gravity.
0011 %
0012 % Assume unit length links with all mass (unity) concentrated at the joints.
0013 %
0014 % Also define the vector qz = [0 0] which corresponds to the zero joint
0015 % angle configuration.
0016 %
0017 % See also: DH, DYN, PUMA560, PUMA560AKB, STANFORD.
0018 
0019 % Copyright (C) 2000-2008, by Peter I. Corke
0020 %
0021 % This file is part of The Robotics Toolbox for Matlab (RTB).
0022 %
0023 % RTB is free software: you can redistribute it and/or modify
0024 % it under the terms of the GNU Lesser General Public License as published by
0025 % the Free Software Foundation, either version 3 of the License, or
0026 % (at your option) any later version.
0027 %
0028 % RTB is distributed in the hope that it will be useful,
0029 % but WITHOUT ANY WARRANTY; without even the implied warranty of
0030 % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
0031 % GNU Lesser General Public License for more details.
0032 %
0033 % You should have received a copy of the GNU Leser General Public License
0034 % along with RTB.  If not, see <http://www.gnu.org/licenses/>.
0035 
0036 twolink_dh = [
0037 % alpha A    theta    D    sigma    m    rx    ry    rz    Ixx    Iyy    Izz    Ixy    Iyz    Ixz    Jm    G
0038   0     1         0     0         0     1       1       0       0       0       0       0       0       0       0        0      1
0039   0     1         0     0         0     1       1       0       0       0       0       0       0       0       0        0      1
0040 ];
0041 
0042 tl = robot(twolink_dh);
0043 tl.name = 'Simple two link';
0044 qz = [0 0];

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