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# mdl_phantomx

Create model of PhantomX pincher manipulator

MDL_PHANTOMX is a script that creates the workspace variable px which describes the kinematic characteristics of a PhantomX Pincher Robot, a 4 joint hobby class manipulator by Trossen Robotics.

Also define the workspace vectors:

qz | zero joint angle configuration

## Notes

- Uses standard DH conventions.
- Tool centrepoint is middle of the fingertips.
- All translational units in mm.

## Reference

- http://www.trossenrobotics.com/productdocs/assemblyguides/phantomx-basic-robot-arm.html

© 1990-2014 Peter Corke.