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# mdl_twolink_mdh

Create model of a 2-link mechanism using modified DH convention

MDL_TWOLINK_MDH is a script that the workspace variable tl which describes the kinematic and dynamic characteristics of a simple planar 2-link mechanism using modified Denavit-Hartenberg conventions.

Also defines the vector:

qz | corresponds to the zero joint angle configuration.

## Notes

- SI units of metres are used.
- It is a planar mechanism operating in the XY (horizontal) plane and is therefore not affected by gravity.

## References

- Based on Fig 3.8 (p71) of Craig (3rd edition).

## See also

SerialLink, mdl_onelink, mdl_twolink, mdl_planar2

© 1990-2014 Peter Corke.