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# mdl_stanford

Create model of Stanford arm

    mdl_stanford

Script creates the workspace variable stanf which describes the kinematic and dynamic characteristics of the Stanford (Scheinman) arm.

Also defines the vectors:

qz | zero joint angle configuration.

## Note

- SI units are used.
- Gear ratios not currently known, though reflected armature inertia is known, so gear ratios are set to 1.

## References

- Kinematic data from "Modelling, Trajectory calculation and Servoing of a computer controlled arm". Stanford AIM-177. Figure 2.3
- Dynamic data from "Robot manipulators: mathematics, programming and control" Paul 1981, Tables 6.5, 6.6
- Dobrotin & Scheinman, "Design of a computer controlled manipulator for robot research", IJCAI, 1973.

## See also

SerialLink, mdl_puma560, mdl_puma560akb

© 1990-2014 Peter Corke.