M-File Help: mdl_KR5

M-File Help: mdl_KR5 | View code for mdl_KR5

# mdl_KR5

Create model of Kuka KR5 manipulator

MDL_KR5 is a script that creates the workspace variable mico which describes the kinematic characteristics of a Kuka KR5 manipulator using standard DH conventions.

Also define the workspace vectors:

qk1 | nominal working position 1
qk2 | nominal working position 2
qk3 | nominal working position 3

## Notes

- SI units of metres are used.
- Includes 11.5cm tool in the z-direction

## Author

- Gautam sinha Indian Institute of Technology, Kanpur.

## See also

SerialLink, mdl_irb140, mdl_fanuc10l, mdl_motomanhp6, mdl_S4ABB2p8, mdl_puma560

© 1990-2014 Peter Corke.