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mdl_offset6

A minimalistic 6DOF robot arm with shoulder offset

MDL_OFFSET6 is a script that creates the workspace variable off6 which describes the kinematic characteristics of a simple arm manipulator with a spherical wrist and a shoulder offset, using standard DH conventions.

Also define the workspace vectors:

qz zero joint angle configuration

Notes

See also

SerialLink, mdl_simple6, mdl_puma560, mdl_twolink


 

© 1990-2014 Peter Corke.