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mdl_baxter

Kinematic model of Baxter dual-arm robot

MDL_BAXTER is a script that creates the workspace variables LEFT and RIGHT which describes the kinematic characteristics of the two arms of a Rethink Robotics Baxter robot using standard DH conventions.

Also define the workspace vectors:

qz zero joint angle configuration
qr vertical 'READY' configuration
qd lower arm horizontal as per data sheet

Notes

References

"Kinematics Modeling and Experimental Verification of Baxter Robot" Z. Ju, C. Yang, H. Ma, Chinese Control Conf, 2015.

See also

SerialLink, mdl_nao


 

© 1990-2014 Peter Corke.