mdl_offset6

A minimalistic 6DOF robot arm with shoulder offset

MDL_OFFSET6 is a script that creates the workspace variable off6 which describes the kinematic characteristics of a simple arm manipulator with a spherical wrist and a shoulder offset, using standard DH conventions.

Also define the workspace vectors:

Notes

• Unlike most other mdl_xxx scripts this one is actually a function that behaves like a script and writes to the global workspace.

See also

SerialLink, mdl_simple6, mdl_puma560, mdl_twolink

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.