www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\MotomanHP6.m
%MotomanHP6 Load kinematic data for a Motoman HP6 manipulator % % MotomanHP6 % % Defines the object 'R' in the current workspace which describes the % kinematic characterstics of a Motoman HP6 manipulator % using standard DH conventions. % % Also define the vector q0 which corresponds to the zero position. % %Wynand Swart %Mega Robots CC, P/O Box 8412, Pretoria, 0001, South Africa %Cell: 073-1555-430 %wynand.swart@gmail.com %30 Sep 2007 %Motoman HP robot %########################################################## L1 = link([ -pi/2 0.15 0 0 0]); L2 = link([ -pi 0.57 0 0 0]); L3 = link([ -pi/2 0.155 0 0 0]); L4 = link([ pi/2 0 0 -0.635 0]); L5 = link([ -pi/2 0 0 0 0]); L6 = link([ pi 0 0 -0.095 0]); %########################################################## %Pose 0; At ZERO position %########################################################## q0 =[0 -pi/2 0 0 -pi/2 0]; R=robot({L1 L2 L3 L4 L5 L6}); R.name='Motoman HP6'; %##########################################################