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# mdl_puma560akb

Create model of Puma 560 manipulator

MDL_PUMA560AKB is a script that creates the workspace variable p560m which describes the kinematic and dynamic characterstics of a Unimation Puma 560 manipulator modified DH conventions.

Also defines the workspace vectors:

qz | zero joint angle configuration
qr | vertical 'READY' configuration
qstretch | arm is stretched out in the X direction

## Notes

- SI units are used.

## References

- "The Explicit Dynamic Model and Inertial Parameters of the Puma 560 Arm" Armstrong, Khatib and Burdick 1986

## See also

SerialLink, mdl_puma560, mdl_stanford_mdh

© 1990-2014 Peter Corke.