Create model of Stanford arm
mdl_stanford
Script creates the workspace variable stanf which describes the kinematic and dynamic characteristics of the Stanford (Scheinman) arm.
Also defines the vectors:
qz zero joint angle configuration.
Gear ratios not currently known, though reflected armature inertia is known, so gear ratios are set to 1.
[1] Kinematic data from "Modelling, Trajectory calculation and Servoing of a computer controlled arm". Stanford AIM-177. Figure 2.3
[2] Dynamic data from "Robot manipulators: mathematics, programming and control". Paul 1981, Tables 6.4, 6.6