www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\twolink.m
%TWOLINK Load kinematic and dynamic data for a simple 2-link mechanism % % TWOLINK % % Defines the object 'tl' in the current workspace which describes the % kinematic and dynamic characterstics of a simple planar 2-link mechanism. % % Example based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition). % It is a planar mechanism operating in the XY (horizontal) plane and is % therefore not affected by gravity. % % Assume unit length links with all mass (unity) concentrated at the joints. % % Also define the vector qz = [0 0] which corresponds to the zero joint % angle configuration. % % See also: DH, DYN, PUMA560, PUMA560AKB, STANFORD. % Copyright (C) 2000-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. twolink_dh = [ % alpha A theta D sigma m rx ry rz Ixx Iyy Izz Ixy Iyz Ixz Jm G 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 1 1 0 0 0 0 0 0 0 0 0 1 ]; tl = robot(twolink_dh); tl.name = 'Simple two link'; qz = [0 0];