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A robotics toolbox for MATLAB

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1 Author(s)
Corke, P. ; Div. of Manuf. Technol., CSIRO, Kenmore, Qld., Australia

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

Published in:

Robotics & Automation Magazine, IEEE  (Volume:3 ,  Issue: 1 )