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# mdl_hyper2d

Create model of a hyper redundant planar manipulator

MDL_HYPER2D creates the workspace variable h2d which describes the kinematic characteristics of a serial link manipulator with 10 joints which at zero angles is a straight line in the XY plane.

mdl_hyper2d(n) as above but creates a manipulator with n joints.

Also define the workspace vectors:

qz joint angle vector for zero angle configuration

R = mdl_hyper2d(n) functional form of the above, returns the SerialLink object.

[R,qz] = mdl_hyper2d(n) as above but also returns a vector of zero joint angles.

## Notes

- The manipulator in default pose is a straight line 1m long.
- 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_hyper3d, mdl_coil, mdl_ball, mdl_twolink

© 1990-2014 Peter Corke.