PUMA560动力学参数及其MATLAB程序

Link 1::Revolute(std): theta=q, d=0, a=0, alpha=1.5708, offset=0
  m    = 0          
  r    = 0           0           0          
  I    = | 0           0           0           |
         | 0           0.35        0           |
         | 0           0           0           |
  Jm   = 0.0002     
  Bm   = 0.00148    
  Tc   = 0.395      (+) -0.435     (-)
  G    = -62.61     
  qlim = -2.792527 to 2.