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. Matveev, Alexey S.; Hoy, Michael C.; Savkin, Andrey V.: A globally converging algorithm for reactive robot navigation among moving and deforming obstacles (2015)
  2. Chung, Long-Yeu: Remote teleoperated and autonomous mobile security robot development in ship environment (2013)
  3. Marinov, Toma; Ramirez, Nelson; Santamaria, Fidel: Fractional Integration Toolbox (2013)
  4. Gasparetto, Alessandro; Boscariol, Paolo; Lanzutti, Albano; Vidoni, Renato: Trajectory planning in robotics (2012)
  5. Ning, Kejun; Kulvicius, Tomas: A novel trajectory generation method for robot control (2012)
  6. Sabatier, Jocelyn; Farges, Christophe; Merveillaut, Mathieu; Feneteau, Ludovic: On observability and pseudo state estimation of fractional order systems (2012)
  7. Corke, Peter: Robotics, vision and control. Fundamental algorithms in MATLAB. (2011)
  8. Panich, Surachai: The exoskeleton suit for patient’s rehabilitation (2011)
  9. Fateh, Mohammad Mehdi: Robust fuzzy control of electrical manipulators (2010)
  10. Mitrovic, Djordje; Klanke, Stefan; Vijayakumar, Sethu: Adaptive optimal feedback control with learned internal dynamics models (2010)
  11. Oudeyer, Pierre-Yves; Baranes, Adrien; Kaplan, Frédéric: Intrinsically motivated exploration for developmental and active sensorimotor learning (2010)
  12. Radwan, A.G.; Soliman, A.M.; Elwakil, A.S.; Sedeek, A.: On the stability of linear systems with fractional-order elements (2009)
  13. Nagata, Fusaomi; Watanabe, Keigo: Fine gain tuning for model-based robotic servo controllers using genetic algorithms (2008)
  14. Turek, Wojciech; Marcjan, Robert; Cetnarowicz, Krzystof: A universal tool for multirobot system simulation (2008)
  15. Žlajpah, Leon: Simulation in robotics (2008)
  16. Bogdan, Stjepan; Lewis, Frank L.; Kovačić, Zdenko; Mireles, José jun.: Manufacturing systems control design. A matrix-based approach. (2006)
  17. Buffo, F.E.; Maciel, M.C.: A mixed nonlinear complementarity technique for solving the dynamics of a dexterous manipulation system (2006)
  18. Robinett, Rush D. III; Wilson, David G.; Eisler, G. Richard; Hurtado, John E.: Applied dynamic programming for optimization of dynamical systems. (2005)
  19. Todorov, Emanuel; Li, Weiwei; Pan, Xiuchuan: From task parameters to motor synergies: a hierarchical framework for approximately optimal control of redundant manipulators (2005)
  20. Altet, O.; Moreau, X.; Moze, M.; Lanusse, P.; Oustaloup, A.: Principles and synthesis of hydractive CRONE suspension (2004)

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