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# mdl_baxter

Kinematic model of Baxter dual-arm robot

MDL_BAXTER is a script that creates the workspace variables LEFT and RIGHT which describes the kinematic characteristics of the two arms of a Rethink Robotics Baxter robot using standard DH conventions.

Also define the workspace vectors:

qz | zero joint angle configuration
qr | vertical 'READY' configuration
qd | lower arm horizontal as per data sheet

## Notes

- SI units of metres are used.

## References

"Kinematics Modeling and Experimental Verification of Baxter Robot" Z. Ju, C. Yang, H. Ma, Chinese Control Conf, 2015.

## See also

SerialLink, mdl_nao

© 1990-2014 Peter Corke.