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# mdl_planar1

Create model of a simple planar 1-link mechanism

    mdl_planar1

Script creates the workspace variable p1 which describes the kinematic and dynamic characteristics of a simple planar 1-link mechanism.

Also defines the vector:

qz | corresponds to the zero joint angle configuration.

## Notes

- It is a planar mechanism operating in the XY (horizontal) plane and is therefore not affected by gravity.
- No dynamics in this model

## See also

SerialLink, mdl_twolink

© 1990-2014 Peter Corke.