%PUMA560?Load?kinematic?and?dynamic?data?for?a?Puma?560?manipulator
%
%	PUMA560
%
%?Defines?the?object?‘p560‘?in?the?current?workspace?which?describes?the?
%?kinematic?and?dynamic?characterstics?of?a?Unimation?Puma?560?manipulator
%?using?standard?DH?conventions.
%?The?model?includes?armature?inertia?and?gear?ratios.
%
%?Also?define?the?vector?qz?which?corresponds?to?the?zero?joint
%?angle?configuration?qr?which?is?the?vertical?‘READY‘?configuration
%?and?qstretch?in?which?the?arm?is?stretched?out?in?the?X?direction.
%
%?See?also:?ROBOT?PUMA560AKB?STANFORD?TWOlink.

%
%?Notes:
%????-?the?value?of?m1?is?given?as?0?here.??Armstrong?found?no?value?for?it
%?and?it?does?not?appear?in?the?equation?for?tau1?after?the?substituion
%?is?made?to?inertia?about?link?frame?rather?than?COG?frame.
%?updated:
%?2/8/95??changed?D3?to?150.05mm?which?is?closer?to?data?from?Lee?AKB86?and?Tarn
%??fixed?errors?in?COG?for?links?2?and?3
%?29/1/91?to?agree?with?data?from?Armstrong?etal.??Due?to?their?use
%??of?modified?D&H?params?some?of?the?offsets?Ai?Di?are
%??offset?and?for?links?3-5?swap?Y?and?Z?axes.
%?14/2/91?to?use?Paul‘s?value?of?link?twist?（alpha）?to?be?consistant
%??with?ARCL.??This?is?the?-ve?of?Lee‘s?values?which?means?the
%??zero?angle?position?is?a?righty?for?Paul?and?lefty?for?Lee.
%??Note?that?gravity?load?torque?is?the?motor?torque?necessary
%??to?keep?the?joint?static?and?is?thus?-ve?of?the?gravity
%??caused?torque.
%
%?8/95?fix?bugs?in?COG?data?for?Puma?560.?This?led?to?signficant?errors?in
%??inertia?of?joint?1.?
%?$Log:?not?supported?by?cvs2svn?$
%?Revision?1.4??2008/04/27?11:36:54??cor134
%?Add?nominal?（non?singular）?pose?qn

%?Copyright?（C）?1993-2008?by?Peter?I.?Corke
%
%?This?file?is?part?of?The?Robotics?Toolbox?for?Matlab?（RTB）.
%?
%?RTB?is?free?software:?you?can?redistribute?it?and/or?modify
%?it?under?the?terms?of?the?GNU?Lesser?General?Public?License?as?published?by
%?the?Free?Software?Foundation?either?version?3?of?the?License?or
%?（at?your?option）?any?later?version.
%?
%?RTB?is?distribu