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. Bernardi, Emanuel; Adam, Eduardo J.: Observer-based fault detection and diagnosis strategy for industrial processes (2020)
  2. Dong, Jiuxiang; Zhang, Jie: A new image-based visual servoing method with velocity direction control (2020)
  3. Gritli, Hassène: LMI-based robust stabilization of a class of input-constrained uncertain nonlinear systems with application to a helicopter model (2020)
  4. Guo, Feng; Sun, Xiaoxia: On semi-infinite systems of convex polynomial inequalities and polynomial optimization problems (2020)
  5. Jiao, Chunxi; Kawai, Reiichiro: Computable primal and dual bounds for stochastic control (2020)
  6. Kalogeropoulos, Ioannis; Sarimveis, Haralambos: Predictive control algorithms for congestion management in electric power distribution grids (2020)
  7. Kong, Felix H.; Manchester, Ian R.: Contraction analysis of nonlinear noncausal iterative learning control (2020)
  8. Lakshmi, Mayur V.; Fantuzzi, Giovanni; Fernández-Caballero, Jesús D.; Hwang, Yongyun; Chernyshenko, Sergei I.: Finding extremal periodic orbits with polynomial optimization, with application to a nine-mode model of shear flow (2020)
  9. Nguyen, Kim-Doang: An adaptive controller for uncertain nonlinear systems with multiple time delays (2020)
  10. Su, Libo; Wei, Yanling; Michiels, Wim; Steur, Erik; Nijmeijer, Henk: Robust partial synchronization of delay-coupled networks (2020)
  11. Vidrios-Serrano, Carlos; Mendoza, Marco; Bonilla, Isela; Maldonado-Fregoso, Berenice: A generalised proportional-derivative force/vision controller for torque-driven planar robotic manipulators. (2020)
  12. Yao, Kunpeng; Billard, Aude: An inverse optimization approach to understand human acquisition of kinematic coordination in bimanual fine manipulation tasks (2020)
  13. Yin, He; Packard, Andrew; Arcak, Murat; Seiler, Peter: Reachability analysis using dissipation inequalities for uncertain nonlinear systems (2020)
  14. Ahmadi, Amir Ali; de Klerk, Etienne; Hall, Georgina: Polynomial norms (2019)
  15. Ahmadi, Mohamadreza; Valmorbida, Giorgio; Gayme, Dennice; Papachristodoulou, Antonis: A framework for input-output analysis of wall-bounded shear flows (2019)
  16. Bendoukha, Samir; Abdelmalek, Samir; Abdelmalek, Salem: A new combined actuator fault estimation and accommodation for linear parameter varying system subject to simultaneous and multiple faults: an LMIs approach (2019)
  17. Forbes, James Richard: Synthesis of strictly positive real (\mathcalH_2) controllers using dilated LMIs (2019)
  18. Frick, Damian; Georghiou, Angelos; Jerez, Juan L.; Domahidi, Alexander; Morari, Manfred: Low-complexity method for hybrid MPC with local guarantees (2019)
  19. van Horssen, Eelco Pascal; Antunes, Duarte; Heemels, Maurice: Switched LQG control for linear systems with multiple sensing methods (2019)
  20. Wei, Xiangyu; Xu, Kai; Jiao, Peng; Yin, Quanjun; Zha, Yabing: A decomposition approach for stochastic shortest-path network interdiction with goal threshold (2019)

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