mdl_twolink

Create model of a 2-link mechanism

MDL_TWOLINK is a script that creates the workspace variable tl which describes the kinematic and dynamic characteristics of a simple planar 2-link mechanism.

Also defines the vector:

Notes

• SI units are used.
• 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.

References

• Based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).

See also

SerialLink, mdl_onelink, mdl_twolink_mdh, mdl_planar2

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.