% Generates 5 angles at random for Mitsubishi RM-101

%

% USAGE:  [q, qd] = mitjoint

%

% This returns q (in radians) and qd (in degrees)



% define legal joint limits



function [q, qd] = mitjoint



tmin = [-120 -30 -120   0 -180]';

tmax = [ 120 120    0 180  180]';



qd = tmin + rand(5,1).*(tmax - tmin);

q = qd.*pi/180;



