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# mdl_twolink

Create model of a 2-link mechanism

MDL_TWOLINK is a script that creates the workspace variable tl which describes the kinematic and dynamic characteristics of a simple planar 2-link mechanism.

Also defines the vector:

qz | corresponds to the zero joint angle configuration.

## Notes

- SI units are used.
- It is a planar mechanism operating in the XY (horizontal) plane and is therefore not affected by gravity.
- Assume unit length links with all mass (unity) concentrated at the joints.

## References

- Based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).

## See also

SerialLink, mdl_onelink, mdl_twolink_mdh, mdl_planar2

© 1990-2014 Peter Corke.