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mdl_twolink

Create model of a simple 2-link mechanism

Calling Sequence

mdl_twolink

Description

Script creates the workspace variable tl which describes the kinematic and dynamic characteristics of a simple planar 2-link mechanism.

Also defines the vector:

qz corresponds to the zero joint angle configuration.

Notes

Bibliography

[1] Based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).

See also

Authors


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