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Create model of a hyper redundant planar manipulator
MDL_HYPER2D creates the workspace variable h2d which describes the kinematic characteristics of a serial link manipulator with 10 joints which at zero angles is a straight line in the XY plane.
mdl_hyper2d(n) as above but creates a manipulator with n joints.
Also define the workspace vectors:
qz joint angle vector for zero angle configuration
R = mdl_hyper2d(n) functional form of the above, returns the SerialLink object.
[R,qz] = mdl_hyper2d(n) as above but also returns a vector of zero joint angles.
SerialLink, mdl_hyper3d, mdl_coil, mdl_ball, mdl_twolink
© 1990-2014 Peter Corke.