M-File Help: mdl_ball

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# mdl_ball

Create model of a ball manipulator

MDL_BALL creates the workspace variable ball which describes the kinematic characteristics of a serial link manipulator with 50 joints that folds into a ball shape.

mdl_ball(n) as above but creates a manipulator with n joints.

Also define the workspace vectors:

q joint angle vector for default ball configuration

## Reference

- "A divide and conquer articulated-body algorithm for parallel O(log(n)) calculation of rigid body dynamics, Part 2", Int. J. Robotics Research, 18(9), pp 876-892.

## 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_coil

© 1990-2014 Peter Corke.