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# mdl_p8

Create model of Puma robot on an XY base

MDL_P8 is a script that creates the workspace variable p8 which is an 8-axis robot comprising a Puma 560 robot on an XY base. Joints 1 and 2 are the base, joints 3-8 are the robot arm.

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 of metres are used.

## References

- Robotics, Vision & Control, Sec 7.3.4, P. Corke, Springer 2011.

## See also

SerialLink, mdl_puma560

© 1990-2014 Peter Corke.