%STANFORD	Load kinematic and dynamic data for Stanford arm
%
%	Defines the matrix 'stanf' which describes the kinematic
%	characterstics of the Stanford (Scheinman) arm.
%
%	Kinematic data from "Modelling, Trajectory calculation and Servoing of 
%	a computer controlled arm".  Stanford AIM-177.  Figure 2.3
%	Dynamic data from "Robot manipulators: mathematics, programming and control"
%	Paul 1981, Tables 6.4, 6.6
%	
%	Note: gear ratios not currently known, though reflected armature inertia is known,
%	so gear ratios set to 1.
%
%	See also DH, DYN, PUMA560, TWOLINK.
%

%	Copright (C) Peter Corke 1990

% alpha	A	theta	D	sigma	m	rx	ry	rz	Ixx	Iyy	Izz	Ixy	Iyz	Ixz	Jm	G
stanf = [
-pi/2	0	0	0.412	0	9.29	0	.0175	-0.1105	0.276	0.255	0.071	0	0	0	0.953	1
pi/2	0	0	0.154	0	5.01	0	-1.054	0	0.108	0.018	0.100	0	0	0	2.193	1	
0	0	-pi/2	0	1	4.25	0	0	-6.447	2.51	2.51	0.006	0	0	0	0.782	1
-pi/2	0	0	0	0	1.08	0	0.092	-0.054	0.002	0.001	0.001	0	0	0	0.106	1
pi/2	0	0	0	0	0.63	0	0	0.566	0.003	0.003	0.0004	0	0	0	0.097	1
0	0	0	0.263	0	0.51	0	0	1.554	0.013	0.013	0.0003	0	0	0	0.020	1
];

qz = [0 0 0 0 0 0];
qr = [0 -pi/2 pi/2 0 0 0];
