%SCARA	Load kinematic and dynamic data for a SCARA manipulator
%
%	Defines the matrix 'scara' which describes the kinematic and dynamic
%	characterstics of a SCARA manipulator.
%	Specifies armature inertia and gear ratios.
%
%	See also DH, DYN, TWOLINK, 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-
scara = [
	0	0	0	0	0	0	0	0	0	0	0.35	0	0	0	0	200e-6	-62.6111	1.48e-3	.395	-.435
	0	1	0	0	0	17.4	-.3638	.006	.0774	.13	.524	.539	0	0	0	200e-6	107.815	.817e-3	.126	-.071
	pi	1	0	0	1	4.8	0	-.014	.070	.066	.086	.0125	0	0	0	200e-6	-53.7063	1.38e-3	.132	-.105
	0	0	0	.2	0	0.82	0	.019	0	1.8e-3	1.3e-3	1.8e-3	0	0	0	33e-6	76.0364	71.2e-6	11.2e-3	-16.9e-3
];

%
% some useful poses
%
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
qstretch = [0 0 -pi/2 0 0 0];
