mdl_stanford
Create model of Stanford arm
MDL_STANFORD is a script that creates the workspace variable stanf which
describes the kinematic and dynamic characteristics of the Stanford
(Scheinman) arm.
Also defines the vectors:
qz | zero joint angle configuration. |
Note
- SI units are used.
- Gear ratios not currently known, though reflected armature inertia
is known, so gear ratios are set to 1.
References
- Kinematic data from "Modelling, Trajectory calculation and Servoing of
a computer controlled arm". Stanford AIM-177. Figure 2.3
- Dynamic data from "Robot manipulators: mathematics, programming and control"
Paul 1981, Tables 6.5, 6.6
- Dobrotin & Scheinman, "Design of a computer controlled manipulator for
robot research", IJCAI, 1973.
See also
mdl_puma560, mdl_puma560akb, SerialLink
© 1990-2014 Peter Corke.