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Fix demo fkine.m and update mdl_puma560 documentation #124

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Fix demo fkine.m and update mdl_puma560 documentation #124

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bbedfc8
Update fkine.m
gelanchez Jan 1, 2023
c9e799e
Update mdl_puma560.m
gelanchez Jan 1, 2023
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4 changes: 2 additions & 2 deletions demos/fkine.m
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Original file line number Diff line number Diff line change
Expand Up @@ -74,11 +74,11 @@
xlabel('Time (s)');
ylabel('X (m)')
subplot(3,1,2)
plot(t, p(:,1))
plot(t, p(:,2))
xlabel('Time (s)');
ylabel('Y (m)')
subplot(3,1,3)
plot(t, p(:,1))
plot(t, p(:,3))
xlabel('Time (s)');
ylabel('Z (m)')

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4 changes: 2 additions & 2 deletions models/mdl_puma560.m
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Expand Up @@ -7,7 +7,7 @@
% Also define the workspace vectors:
% qz zero joint angle configuration
% qr vertical 'READY' configuration
% qstretch arm is stretched out in the X direction
% qs arm is stretched out in the X direction
% qn arm is at a nominal non-singular configuration
%
% Notes::
Expand Down Expand Up @@ -146,7 +146,7 @@
qz = [0 0 0 0 0 0]; % zero angles, L shaped pose
qr = [0 pi/2 -pi/2 0 0 0]; % ready pose, arm up
qs = [0 0 -pi/2 0 0 0];
qn=[0 pi/4 pi 0 pi/4 0];
qn = [0 pi/4 pi 0 pi/4 0];

p560 = SerialLink(L, 'name', 'Puma 560', ...
'configs', {'qz', qz, 'qr', qr, 'qs', qs, 'qn', qn}, ...
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