%Load kinematic data for Armand
%
%	ARMAND
%
% alpha     A      theta    D	  
%  -pi/2    0       0       254
%  0        254     0       0
%  0        254     0       0
%  -pi/2    0       0       0
%  0        0       0       202.8

L1 = link([-pi/2 0 0 254 0],'standard');
L2 = link([0 254 0 0 0],'standard');
L3 = link([0 254 0 0 0],'standard');
L4 = link([-pi/2 0 0 0 0],'standard');
L5 = link([0 0 0 202.8 0],'standard');

r = robot({L1 L2 L3 L4 L5});
r.name = 'Armand';

% home position
qz = [0 -pi/2 pi/2 -pi/2 0];