function?eyebot?=?eyebot（）

%Creates?a?5?DOF?robot?arm?for?Robotics?Toolbox?with?DH?parameters.?
%Returns?robot?struct.
l1=link（‘theta‘0‘a‘0‘alpha‘pi/2‘qlim‘[-3030]‘I‘[0020000]‘r‘[000]‘m‘5‘Jm‘200e-6）;
l2=link（‘theta‘-pi/2‘a‘0‘alpha‘-pi/2‘qlim‘[-3030]‘I‘[0200000]‘r‘[005]‘m‘2‘Jm‘200e-6）;
l3=link（‘theta‘-pi/2‘a‘0‘alpha‘4*pi/6‘qlim‘[-3030]‘I‘[2000000]‘r‘[002]‘m‘2‘Jm‘200e-6）;
l4=link（‘d‘30‘a‘0‘alpha‘pi/2‘qlim‘[2*pi/64*pi/6]‘I‘[353535000]‘r‘[11012]‘m‘0.5‘Jm‘200e-6）;
l5=link（‘d‘0‘a‘10‘alpha‘0‘qlim‘[2*pi/3pi]‘I‘[101010000]‘r‘[20013]‘m‘0.1‘Jm‘200e-6）;
eyebot?=Seriallink（[l1?l2?l3?l4?l5]‘name‘‘eyerobot‘‘base‘[0?0?-1?0;0?1?0?0;1?0?0?0;0?0?0?1]）;


end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????767??2017-01-26?16:57??eyebot.m

?????文件???????2568??2017-03-07?16:48??zuakang_wailiraodong.m

?????文件????????682??2015-09-14?09:04??colormp.mat

-----------?---------??----------?-----??----

?????????????????4017????????????????????3