MATLAB
- This folder contains most of the matlab functions during that are reusable and public
- Note I've also collected user functions from stack/matlab that have been proved useful I've left the header and author information
Generic Functions
robot-functions
A set of convenience functions for robotics, including:
- Functions for spatial transformations, rotation angular velocity conversions and simple geometric relations between lines and planes.
- General transform and jacobian derivations based on DH parameters.
- Simple trajectory generators in configuration and Cartesian space.
- Basic visual servoing interaction matrices.
- A general gradient descent IK for serial robots
utility-functions
- A set of convenience functions for MATLAB
Robot Specific
planar-RRR
- A test folder for different tools with an example 3DOF planar robot
- Jacobian, Transforms inertia for simple robot
- Visualizing a danger grid about a planar robot
- Effective mass modeling for the robot
gough-steward-platform
- A set of function used to model the gough stewart robot with felxible platform.
- Both rigid functions and flexible functions are included (flexibility is modeled using finite element results with the mode shape superposition method)
kuka-lwr
- Kinematic/Geometric functions used to model Kukalwr robot
sawyer
- Kinematic/Geometric functions used to model Rethink's sawyer robot
ur10
- Kinematic/Geometric functions used to model UR10 robot
nao-actuation-schemes
- Kinematic/Geometric functions used to model Nao robot cooperatively manipulating an object