%MDL_PLANAR2 Create model of a simple planar 2-link mechanism
%
% MDL_PLANAR2 is a script that creates the workspace variable p2 which
% describes the kinematic characteristics of a simple planar 2-link
% mechanism.
%
% Also defines the vector:
%   qz   corresponds to the zero joint angle configuration.
%
% Also defines the vector:
%   qz   corresponds to the zero joint angle configuration.
%
% Notes::
% - Moves in the XY plane.
% - No dynamics in this model.
%
% See also mdl_twolink, mdl_planar1, mdl_planar3, SerialLink.


% MODEL: generic, planar, 2DOF, symbolic, standard_DH


% Copyright (C) 1993-2017, 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 distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
% GNU Lesser General Public License for more details.
% 
% You should have received a copy of the GNU Leser General Public License
% along with RTB.  If not, see <http://www.gnu.org/licenses/>.
%
% http://www.petercorke.com


syms a1 a2 real;

p2 = SerialLink([
    Revolute('d', 0, 'a', a1, 'alpha', 0, 'standard')
    Revolute('d', 0, 'a', a2, 'alpha', 0, 'standard')
    ], ...
    'name', 'two link');
qz = [0 0];
