mdl_twolink_mdh

Create model of a 2-link mechanism using modified DH convention

MDL_TWOLINK_MDH is a script that the workspace variable tl which describes the kinematic and dynamic characteristics of a simple planar 2-link mechanism using modified Denavit-Hartenberg conventions.

Also defines the vector:

Notes

• SI units of metres are used.
• It is a planar mechanism operating in the XY (horizontal) plane and is therefore not affected by gravity.

References

• Based on Fig 3.8 (p71) of Craig (3rd edition).

See also

SerialLink, mdl_onelink, mdl_twolink, mdl_planar2

Robotics Toolbox for MATLAB © 1990-2014 Peter Corke.