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# mdl_stanford_mdh

Create model of Stanford arm using MDH conventions

    mdl_stanford_mdh

Script creates the workspace variable stanf which describes the kinematic and dynamic characteristics of the Stanford (Scheinman) arm using modified Denavit-Hartenberg parameters.

Also defines the vectors:

qz | zero joint angle configuration.

## Notes

- SI units are used.

## References

- Kinematic data from "Modelling, Trajectory calculation and Servoing of a computer controlled arm". Stanford AIM-177. Figure 2.3
- Dynamic data from "Robot manipulators: mathematics, programming and control" Paul 1981, Tables 6.5, 6.6

## See also

SerialLink, mdl_puma560, mdl_puma560akb

© 1990-2014 Peter Corke.