SCARA_model_dimensions_setting.m

% Michal Komorowski, January 2013


jl0=0.1*s; % joint 0 length (base)
ja0=0.5*s; % joint 0 side length (base)

la1=0.1*s; % link 1 side length
ll1=1*s; % link 1 length
jr1=0.1*s; % joint 1 radius 
jh1=0.25*s; % joint 1 height 

la2=0.1*s; % link 2 side length 
ll2=0.5*s; % link 2 length 
jr2=0.08*s; % joint 2 radius 
jh2=0.25*s; % joint 2 height 

la3=0.1*s; % link 3 side length 
ll3=0.5*s; % link 3 length 
ja3=0.15*s; % joint 3 side length 
jl3=0.25*s; % joint 3 length 

la4=0.05*s; % link 4 side length
ll4=0.8*s; % link 4 length 
jr4=0.05*s; % end-effector orienting joint radius 
jh4=0.1*s; % joint 4 height 

la5=0.08*s; % link 5 side length 
ll5=0.2*s; % end-effector length