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# mdl_puma560

Create model of Puma 560 manipulator

MDL_PUMA560 is a script that creates the workspace variable p560 which describes the kinematic and dynamic characteristics of a Unimation Puma 560 manipulator using standard DH conventions.

Also define the workspace vectors:

qz | zero joint angle configuration
qr | vertical 'READY' configuration
qstretch | arm is stretched out in the X direction
qn | arm is at a nominal non-singular configuration

## Notes

- SI units are used.
- The model includes armature inertia and gear ratios.

## Reference

- "A search for consensus among model parameters reported for the PUMA 560 robot", P. Corke and B. Armstrong-Helouvry, Proc. IEEE Int. Conf. Robotics and Automation, (San Diego), pp. 1608-1613, May 1994.

## See also

serialrevolute, mdl_puma560akb, mdl_stanford

© 1990-2014 Peter Corke.