"""
@author: Luis Fernando Lara Tobar
@author: Peter Corke
@author: Samuel Drew
"""
from roboticstoolbox import DHRobot, RevoluteDH
import numpy as np
[docs]class Planar3(DHRobot):
"""
Class that models a planar 3-link robot
``Planar2()`` is a class which models a 3-link planar robot and
describes its kinematic characteristics using standard DH
conventions.
.. runblock:: pycon
>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Planar3()
>>> print(robot)
Defined joint configurations are:
- qz, zero angles, all folded up
.. note::
- Robot has only 3 DoF.
.. codeauthor:: Peter Corke
"""
def __init__(self):
L = [RevoluteDH(a=1), RevoluteDH(a=1), RevoluteDH(a=1)]
super().__init__(L, name="Planar 3 link", keywords=("planar",))
self.qr = np.zeros(3)
self.qz = np.zeros(3)
self.addconfiguration("qr", self.qr)
self.addconfiguration("qz", self.qz)
if __name__ == "__main__": # pragma nocover
robot = Planar3()
print(robot)