Global user definitions

Kinematic parameters (variable = DH)

DH = {{0, 0, 0, θ1, 0}, {0, L1, 0, θ2, 0}, {0, L2, 0, 0, 0}} ;

Dynamic parameters

Link masses (m_i, i∈ {1, 2}) (variable = mass)

mass = {m1, m2} ;

Inertia tensors for point mass assumption (^C_iI_i, i∈ {1, 2}) (variable = inertia)

inNone = Table[0, {3}, {3}] ; in1 = inNone ; in2 = inNone ; inertia = {in1, in2} ;

Center-of-mass vectors (^iP_C_i, i∈ {1, 2}) (variable = Pc)

Pc = {{L1, 0, 0}, {L2, 0, 0}} ;

Gravity vector (variable = gravityVector)

gravityVector = {0, g, 0} ;

Numeric values for parameters

robotParameterTable = {{L1, 1}, {L2, 1/2}, {m1, 1}, {m2, 1/2}} ;

Created by Mathematica  (November 12, 2003)