Help for--Robot toolbox

本资料包含pdf文件1个，下载需要20积分

Help for--Robot toolboxA computer tool for simulation and analysis
the Robotics ToolboxforMATLAB
Peter I Corke
CSIRO Division of Manufacturing Technology
pic
mlb dmt csiro au
Abstract This paper introduces in tutorial form a Robotics Toolbox for MATLAB that
allows the user to easily create and manipulate datatypes fundamental to robotics such
as homogeneous transformations quaternions and trajectories
Functions provided for
arbitrary seriallink manipulators include forward and inverse kinematics and forward
and inverse dynamics
The complete Toolbox and documentation is freely available via
anonymous ftp

Introduction
MATLABisapowerful environment for linear algebra and graphical presentation that
is available on a very wide range of computer platforms
The core functionalitycan
be extended by application specic toolboxes
The Robotics Toolboxprovides many
functions that are required in robotics and addresses areas such as kinematics dynamics
and trajectory generation
The Toolbox is useful for simulation as well as analyzing results
from experiments with real robots and can be a powerful tool for education

The Toolbox is based on a very general method of representing the kinematics and
dynamics of seriallink manipulators by description matrices
These comprise in the
simplest case the Denavit and Hartenberg parameters of the robot and can be created
by the user for any seriallink manipulator
A number of examples are provided for well
known robots such as the Puma 
and the Stanford arm
The manipulator description
can be elaborated byaugmenting the matrix to include link inertial and motor inertial
and frictional parameters
Such matrices provide a concise means of describing a robot
model and may facilitate the sharing of robot models across the researchcommunity
This