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# mdl_jaco

Create model of Kinova Jaco manipulator

MDL_JACO is a script that creates the workspace variable jaco which describes the kinematic characteristics of a Kinova Jaco manipulator using standard DH conventions.

Also define the workspace vectors:

qz | zero joint angle configuration
qr | vertical 'READY' configuration

## Reference

- "DH Parameters of Jaco" Version 1.0.8, July 25, 2013.

## Notes

- SI units of metres are used.
- 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_mico, mdl_puma560

© 1990-2014 Peter Corke.