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- L1 = Link('d', 0, 'a', 1, 'alpha', 0);
- L1.m=50;
- L1.r=[0.5,0,0];
- L1.I=[0,0,0;0,0,0;0,0,10];
- L1.G=1;
- L1.Jm=0;
- L2=Link(L1);
- r2=SerialLink([L1,L2]);
- r2.name='POLIrobot';
- r2.gravity=[0;9.81;0];
- q0=r2.ikine([eye(3),[0.2;0;0];[0,0,0,1]],[0,0],[1 1 0 0 0 0]);
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