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mdl_puma560akb

Create model of Puma 560 manipulator

Calling Sequence

mdl_puma560akb

Description

Script creates the workspace variable p560m which describes the kinematic and dynamic characterstics of a Unimation Puma 560 manipulator modified DH conventions.

Also defines the workspace vectors:

qz zero joint angle configuration

qready vertical 'READY' configuration

qstretch arm is stretched out in the X direction

Bibliography

[1] "The Explicit Dynamic Model and Inertial Parameters of the Puma 560 Arm" - Armstrong, Khatib and Burdick - 1986

See also

Authors


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