Create model of a simple 2-link mechanism
mdl_twolink
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.
It is a planar mechanism operating in the XY (horizontal) plane and is therefore not affected by gravity.
Assume unit length links with all mass (unity) concentrated at the joints.
[1] Based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).