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

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  1. Armah, Stephen K.; Yi, Sun: Analysis of time delays in quadrotor systems and design of control (2017)
  2. Lee, Joohyung; Loney, Nikhil; Meng, Yunsong: Representing hybrid automata by action language modulo theories (2017)
  3. Leite, Antonio C.; Lizarralde, Fernando: Passivity-based adaptive 3D visual servoing without depth and image velocity measurements for uncertain robot manipulators (2016)
  4. Reynoso-Mora, P.; Chen, W.; Tomizuka, M.: A convex relaxation for the time-optimal trajectory planning of robotic manipulators along predetermined geometric paths (2016)
  5. Matveev, Alexey S.; Hoy, Michael C.; Savkin, Andrey V.: A globally converging algorithm for reactive robot navigation among moving and deforming obstacles (2015)
  6. Chung, Long-Yeu: Remote teleoperated and autonomous mobile security robot development in ship environment (2013) ioport
  7. Marinov, Toma; Ramirez, Nelson; Santamaria, Fidel: Fractional Integration Toolbox (2013)
  8. Gasparetto, Alessandro; Boscariol, Paolo; Lanzutti, Albano; Vidoni, Renato: Trajectory planning in robotics (2012) ioport
  9. Ning, Kejun; Kulvicius, Tomas: A novel trajectory generation method for robot control (2012) ioport
  10. Sabatier, Jocelyn; Farges, Christophe; Merveillaut, Mathieu; Feneteau, Ludovic: On observability and pseudo state estimation of fractional order systems (2012)
  11. Corke, Peter: Robotics, vision and control. Fundamental algorithms in MATLAB. (2011)
  12. Panich, Surachai: The exoskeleton suit for patient’s rehabilitation (2011)
  13. Elkady, Ayssam Yehia; Mohammed, Mohammed; Sobh, Tarek: A new algorithm for measuring and optimizing the manipulability index (2010)
  14. Fateh, Mohammad Mehdi: Robust fuzzy control of electrical manipulators (2010)
  15. Mitrovic, Djordje; Klanke, Stefan; Vijayakumar, Sethu: Adaptive optimal feedback control with learned internal dynamics models (2010)
  16. Oudeyer, Pierre-Yves; Baranes, Adrien; Kaplan, Frédéric: Intrinsically motivated exploration for developmental and active sensorimotor learning (2010)
  17. Radwan, A. G.; Soliman, A. M.; Elwakil, A. S.; Sedeek, A.: On the stability of linear systems with fractional-order elements (2009)
  18. Xu, Wenfu; Liang, Bin; Li, Cheng; Liu, Yu; Wang, Xueqian: A modelling and simulation system of space robot for capturing non-cooperative target (2009)
  19. Nagata, Fusaomi; Watanabe, Keigo: Fine gain tuning for model-based robotic servo controllers using genetic algorithms (2008)
  20. Radwan, A. G.; Soliman, A. M.; Elwakil, A. S.: Design equations for fractional-order sinusoidal oscillators: four practical circuit examples (2008)

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