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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 |
"Kinematics Modeling and Experimental Verification of Baxter Robot" Z. Ju, C. Yang, H. Ma, Chinese Control Conf, 2015.
© 1990-2014 Peter Corke.