mdl_twolink_sym
Create symbolic model of a simple 2-link mechanism
MDL_TWOLINK_SYM is a script that creates the workspace variable twolink
which describes in symbolic form the kinematic and dynamic
characteristics of a simple planar 2-link mechanism moving in the
xz-plane, it experiences gravity loading. The symbolic parameters are:
- link lengths: a1, a2
- link masses: m1, m2
- link CoMs in the link frame x-direction: c1, c2
- gravitational acceleration: g
- joint angles: q1, q2
- joint angle velocities: qd1, qd2
- joint angle accelerations: qdd1, qdd2
Notes
- It is a planar mechanism operating in the vertical plane and is
therefore affected by gravity (unlike mdl_planar2 in the horizontal
plane).
- Gear ratio is 1 and motor inertia is 0.
- Link inertias Iyy1, Iyy2 are 0.
- Viscous and Coulomb friction is 0.
References
- Based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).
See also
mdl_puma560, mdl_stanford, SerialLink
© 1990-2014 Peter Corke.