% sets up DH parameters for 5 DOF MITSUBISHI RM-101 robot

%

%  NOTE: all joints are revolute

%

%    link    alpha     a      theta     d    type

%      1       90      0       var     214     0

%      2        0     200      var       0     0

%      3        0     150      var       0     0

%      4       90      0       var       0     0

%      5        0      0       var      85     0

%

% These parameters place T5 centered on the finger pads.

%

% The world origin is taken at the base of the robot.



dh = [pi/2   0   0  214  0

       0   200   0    0  0

       0   150   0    0  0

      pi/2   0   0    0  0 

       0     0   0   85  0];



% This is the weighting vector required by ikine()

% Rotation about the wrist X axis (yaw) is constrained.



M = [1 1 1 0 1 1]';  % note: column vector



