M-File Help: mdl_offset6 | View code for 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 |
SerialLink, mdl_simple6, mdl_puma560, mdl_twolink
© 1990-2014 Peter Corke.