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.
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];