Hi,

i want to use the Robotic toolbox to build a simple robotic modul.

the code:

->L=list();

// alpha A theta D sigma

->L(1)=rt_link(,'sta');

->L(2)=rt_link(,'sta');

->r=rt_robot(L,"rp_A1");

->r.offset=;

->q=;

->VT=rt_fkine(r,q)

->xdel();

->h0 = scf(0); a0 = h0.children;

->a0.tight_limits = "off";

->a0.rotation_angles = ;

->rt_plot(r,q,"base");

the original DH-Parameters should be:

J.N, D, A, Alpha, Theta, Sigma

1, 0, 0, -%pi/2, 0+Variable, 0

2, 1+Variable, 0, 0, 0, 1

Problems:

1. I don't know whether i have right codes

2. that was no base and TCP-coordinate in the Image

3. how can i get the coordinates for the another joints in the Image

I hope that you can understand me and help me to find the solution,thank's a lot