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A robotics toolbox for MATLAB

1996; Institute of Electrical and Electronics Engineers; Volume: 3; Issue: 1 Linguagem: Inglês

10.1109/100.486658

1558-223X

Peter Corke,

Dynamics and Control of Mechanical Systems

The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and inverse kinematics, Jacobians, and forward and inverse dynamics. This article introduces the Toolbox in tutorial form, with examples chosen to demonstrate a range of capabilities. The complete Toolbox and documentation is freely available via anonymous ftp.