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. Cheraghiyan, M.: A new separated fault estimator and fault-tolerant control design strategy for uncertain nonlinear systems using T-S fuzzy modeling (2021)
  2. de Oliveira, Matheus Senna; Pereira, Renan Lima: On unknown input observers designs for discrete-time LPV systems with bounded rates of parameter variation (2021)
  3. Hashikura, Kotaro; Jaafar, Jad Musaddiq Bin; Kojima, Akira; Kamal, Md Abdus Samad; Yamada, Kou: LQ preview state feedback with output regulation constraint (2021)
  4. Lejarza, Fernando; Baldea, Michael: Economic model predictive control for robust optimal operation of sparse storage networks (2021)
  5. Lipták, György; Hangos, Katalin M.; Szederkényi, Gábor: Stabilizing feedback design for time delayed polynomial systems using kinetic realizations (2021)
  6. Ning, Chao; You, Fengqi: Online learning based risk-averse stochastic MPC of constrained linear uncertain systems (2021)
  7. Wang, Jie; Magron, Victor; Lasserre, Jean-Bernard: TSSOS: a moment-SOS hierarchy that exploits term sparsity (2021)
  8. Wang, Jie; Magron, Victor; Lasserre, Jean-Bernard: Chordal-TSSOS: a moment-SOS hierarchy that exploits term sparsity with chordal extension (2021)
  9. Zaheer, Muhammad Hamad; Arthur, Khalid M.; Yoon, Se Young (Pablo): Derivative feedback control of nonlinear systems with uncertain equilibrium states and actuator constraints (2021)
  10. Bernardi, Emanuel; Adam, Eduardo J.: Observer-based fault detection and diagnosis strategy for industrial processes (2020)
  11. Dong, Jiuxiang; Zhang, Jie: A new image-based visual servoing method with velocity direction control (2020)
  12. Gritli, Hassène: LMI-based robust stabilization of a class of input-constrained uncertain nonlinear systems with application to a helicopter model (2020)
  13. Guo, Feng; Sun, Xiaoxia: On semi-infinite systems of convex polynomial inequalities and polynomial optimization problems (2020)
  14. Jiao, Chunxi; Kawai, Reiichiro: Computable primal and dual bounds for stochastic control (2020)
  15. Kalogeropoulos, Ioannis; Sarimveis, Haralambos: Predictive control algorithms for congestion management in electric power distribution grids (2020)
  16. Kong, Felix H.; Manchester, Ian R.: Contraction analysis of nonlinear noncausal iterative learning control (2020)
  17. 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)
  18. Nguyen, Kim-Doang: An adaptive controller for uncertain nonlinear systems with multiple time delays (2020)
  19. Romanova, Irina: Pareto optimal solutions and their application in designing robots and robotic systems (2020)
  20. Stellato, Bartolomeo; Banjac, Goran; Goulart, Paul; Bemporad, Alberto; Boyd, Stephen: OSQP: an operator splitting solver for quadratic programs (2020)

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