?? fanuc10l.m
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% FANUC10L Load kinematic data for a Fanuc AM120iB/10L robot %% Fanuc10L%% Defines the object 'R' in the current workspace which describes the % kinematic characterstics of a Fanuc AM120iB/10L% using standard DH conventions.%% Also define the vector q0 which corresponds to mastering position.%%Wynand Swart%Mega Robots CC, P/O Box 8412, Pretoria, 0001, South Africa%Cell: 073-1555-430%wynand.swart@gmail.com%30 Sep 2007%Fanuc AM120iB/10L robotL1 = link([-pi/2 0.15 0 0 0 ]);L2 = link([ pi 0.77 0 0 0 ]);L3 = link([-pi/2 0.1 0 0 0 ]);L4 = link([ pi/2 0 0 -0.96 0 ]);L5 = link([-pi/2 0 0 0 0 ]);L6 = link([ 0 0 0 -0.1 0 ]);%##########################################################%Pose 0; At MASTERING position;%##########################################################q0 =[0 -pi/2 0 0 0 0];R=robot({L1 L2 L3 L4 L5 L6});R.name='Fanuc AM120iB/10L';%##########################################################?? 快捷鍵說明
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