mdl_phantomx

Create model of PhantomX pincher manipulator

MDL_PHANTOMX is a script that creates the workspace variable px which describes the kinematic characteristics of a PhantomX Pincher Robot, a 4 joint hobby class manipulator by Trossen Robotics.

Also define the workspace vectors:

Notes

• Uses standard DH conventions.
• Tool centrepoint is middle of the fingertips.
• All translational units in mm.

Reference

• http://www.trossenrobotics.com/productdocs/assemblyguides/phantomx-basic-robot-arm.html

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.