Abstract
A Robotics Toolbox has been developed for the MATLAB matrix manipulation program. The Toolbox encompasses a set of routines to perform calculations in matrix notation. The package consists of callable routines for performing specific calculations. Some of the routines are configuration specific for common robot configurations such as the Puma. In each area, configuration independent routines are also provided, which are applicable to any robot configuration. The routines include the functions of Forward and Inverse Kinematics, Arm Dynamics, Trajectory Planning, Control, and Simulation.
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