%CESAR	Load kinematic and dynamic data for a CESAR robot
%
%	Defines the matrix 'cesares' which describes the kinematic and dynamic
%	characterstics of a robot built in Center for Engineering Systems
%	Advanced Research (CESAR).
%
%	DH and mass parameters from: Cleary, K., and Tesar, D.:
%	"Incorporating multiple criteria in the operation of redundant 
%	 manipulators", 1990 IEEE ICRA Conf., pp. 618-624.
%
%	Specifies armature inertia and gear ratios.
%
%	See also DH, DYN, TWOLINK, PUMA560, STANFORD.
%
%	Copright (C) Goran S Djordjevic, 1996.

%	alpha	A	theta	D	sigma	m	rx	ry	rz	Ixx	Iyy	Izz	Ixy	Iyz	Ixz	Jm	G	B	Tc+	Tc-
cesares = [
	0	0	0	0	0	38.0875	0	.00897	-.05218	.53400	.34930	.38563	0.0	-.03100	0.0		
	pi/2	0	0	.356	0	18.7313	-.05016	-.00116	.03865	.43067	.53787	.37499	-.00119	.00627	.01798
	pi/2	0	0	.635	0	58.2504	.00560	0.0	-.64258	2.0401	2.32441	1.02777	.00124	.01505	.05566
	pi/2	.029	0	0	0	18.4396	.07852	-.61660	.00058	.00536	.07079	1.43469	-6.36e-4	-.00029	0.0
	0	.508	0	0	0	0.5691	0.0	-.00414	-.00875	6.31e-6	5.07e-6	2.51e-6	1.0e-7	2.06e-7	-1.0e-7
	pi/2	0	pi/2	0	0	1.0601	-.00019	-.04310	.04906	.00339	.00116	.00297	0.0	0.0	0.0
	pi/2	0	0	.343	0	10.8036	-.00025	-.00654	-.03152	.00419	.00394	.00347	4.95e-5	.00132	-4.99e-5
];

%
% some useful poses
%
qz = [0 0 0 0 0 0 0];	% zero angles, L shaped pose
qr = [0 0 0 0 0 pi/2 0];	% ready pose, arm down
qm = [0  -0.9425 0 0 0 pi/2 0];	% middle pose
qstretch = [0 pi/2 0 pi/4 0 pi/2 0];
