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# mdl_simple6

A minimalistic 6DOF robot arm

MDL_SIMPLE6 is a script creates the workspace variable s6 which describes the kinematic characteristics of a simple arm manipulator with a spherical wrist and no shoulder offset, using standard DH conventions.

Also define the workspace vectors:

qz | zero joint angle configuration

## Notes

- Unlike most other mdl_xxx scripts this one is actually a function that behaves like a script and writes to the global workspace.

## See also

SerialLink, mdl_offset6, mdl_puma560

© 1990-2014 Peter Corke.