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scm

by Reinaldo Mauricio do Nascimento

 

26 Feb 2006 (Updated 27 Feb 2006)

Code covered by the BSD License  

Robotic Manipulator Kinematics

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Description

SCM is an alternative method for manipulating robot kinematics, based on the ?displacement? from the reference frame to the final frame, where the tool will be installed. It uses the well known format ?[X Y Z A B C] == [[position vector] [RPY angles]]? as input parameters. The SCM can also be used to obtain DH parameters for a large variety of manipulators. On MATLAB type ?scmdemo?.
If you are interested in getting to know a little more about this method, please refer to the attached documentation.
Required Products Symbolic Math Toolbox
MATLAB release MATLAB 6.5 (R13)
Zip File Content  
Other Files
scm/bmp/fig_cloos.bmp,
scm/bmp/fig_kr100p.bmp,
scm/bmp/fig_kr125.bmp,
scm/bmp/fig_kr2150.bmp,
scm/bmp/fig_onelink.bmp,
scm/bmp/fig_puma560.bmp,
scm/bmp/fig_puma560x.bmp,
scm/bmp/fig_puma600.bmp,
scm/bmp/fig_scara.bmp,
scm/bmp/fig_scorbot.bmp,
scm/bmp/fig_stanford.bmp,
scm/bmp/fig_twolink.bmp,
scm/bmp/fig_uw.bmp,
scm/bmp/Thumbs.db,
scm/dhconv.M,
scm/Doc/Scm_Tut_E.pdf,
scm/Doc/Scm_Tut_P.pdf,
scm/geo.m,
scm/h2j.m,
scm/hrx.m,
scm/hry.m,
scm/hrz.m,
scm/htx.m,
scm/hty.m,
scm/htz.m,
scm/ik2q.m,
scm/Models/scm_cloos.m,
scm/Models/scm_kr100p.m,
scm/Models/scm_kr125.m,
scm/Models/scm_kr2150k.m,
scm/Models/scm_kr2150s.m,
scm/Models/scm_onelink.m,
scm/Models/scm_puma560.m,
scm/Models/scm_puma560x.m,
scm/Models/scm_puma600.m,
scm/Models/scm_scara.m,
scm/Models/scm_scorbot.m,
scm/Models/scm_stanford.m,
scm/Models/scm_twolink.M,
scm/Models/scm_uw.m,
scm/Models/scm_yosokawa.m,
scm/qrand.m,
scm/s2d.m,
scm/scm.m,
scm/scm2dh.m,
scm/scmdemo.m,
scm/scm_menu1.m,
scm/scm_menu2.m,
scm/scm_menu3.m,
scm/SCZIP.M
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06 Dec 2006 jack sia

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Tag Activity for this File
Tag Applied By Date/Time
symbolic math Reinaldo Mauricio do Nascimento 22 Oct 2008 08:16:49
manipulating robot Reinaldo Mauricio do Nascimento 22 Oct 2008 08:16:49
dh parameters Reinaldo Mauricio do Nascimento 22 Oct 2008 08:16:49
mathematics Reinaldo Mauricio do Nascimento 22 Oct 2008 08:16:49
math Reinaldo Mauricio do Nascimento 22 Oct 2008 08:16:49
 

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