www.pudn.com > RobotToolbox.rar > dyn.m

%DYN Matrix representation of manipulator kinematics and dynamics
%
% The original robot toolbox functions used a DYN matrix to describes the
% kinematics and dynamics of a manipulator in a general way.
%
% For an n-axis manipulator, DYN is an nx20 matrix, whose rows comprise
% 
%	1	alpha	link twist angle
%	2	A	link length
%	3	theta	link rotation angle
%	4	D	link offset distance
%	5	sigma	joint type, 0 for revolute, non-zero for prismatic
%	6	mass	mass of the link
%	7	rx	link COG with respect to the link coordinate frame
%	8	ry
%	9	rz
%	10	Ixx	elements of link inertia tensor about the link COG
%	11	Iyy
%	12	Izz
%	13	Ixy
%	14	Iyz
%	15	Ixz
%	16	Jm	armature inertia
%	17	G	reduction gear ratio. joint speed/link speed
%	18	B	viscous friction, motor refered
%	19	Tc+	coulomb friction (positive rotation), motor refered
%	20	Tc-	coulomb friction (negative rotation), motor refered
%
% The first 5 columns of a DYN matrix contain the kinematic parameters
% and maybe used anywhere that a DH kinematic matrix is required -- the
% dynamic data is ignored.
%
% The functionality of the DH matrix has been replaced by the ROBOT object.
%
% See also: ROBOT, DH.

% Copyright (C) 1993-2002, by Peter I. Corke

% MOD.HISTORY
% 	1/95	reverse labels on A & D
% $Log: dyn.m,v $
% Revision 1.2  2002/04/01 11:47:12  pic
% General cleanup of code: help comments, see also, copyright, remnant dh/dyn
% references, clarification of functions.
%
% $Revision: 1.2 $