Create model of PhantomX pincher manipulator
mdl_phantomx
Script creates the workspace variable px which describes the kinematic characteristics of a PhantomX Pincher Robot, a 4 joint hobby class manipulator by Trossen Robotics.
Also define the workspace vectors:
qz zero joint angle configuration
the x-axis is forward, and the z-axis is upwards.
uses standard DH conventions.
Tool centrepoint is middle of the fingertips.
all translational units in mm.
[1] http://www.trossenrobotics.com/productdocs/assemblyguides/phantomx-basic-robot-arm.html