Create model of Puma 560 manipulator
mdl_puma560akb
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
[1] "The Explicit Dynamic Model and Inertial Parameters of the Puma 560 Arm" - Armstrong, Khatib and Burdick - 1986