Kinematic model of Baxter dual-arm robot
MDL_BAXTER is a script that creates the workspace variables LEFT and RIGHT which describes the kinematic characteristics of the two arms of a Rethink Robotics Baxter robot using standard DH conventions.
Also define the workspace vectors:
| qz | zero joint angle configuration |
| qr | vertical 'READY' configuration |
| qd | lower arm horizontal as per data sheet |
"Kinematics Modeling and Experimental Verification of Baxter Robot" Z. Ju, C. Yang, H. Ma, Chinese Control Conf, 2015.
Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.