robotic toolbox: Tmat=Tsfer(gamma,beta,r) - File Exchange

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Highlights from
robotic toolbox

T=staticForce(J6,F) Author: epokh
Tmat=Tcyl(alfa,l,r) Author: epokh
Tmat=Tsfer(gamma,beta,r) Author: epokh
[EulerMat]=Euler(fi1,theta,fi... Author: epokh
[EulerMat]=Euler3(fi1,theta,f... Author: epokh
[J]=jacobianT6(Tuh,JType) Author: epokh
[Mdh]=DHmatrix(theta,d,a,alph... Author: epokh
[RPYmat]=RPY(fia,fio,fin) Author: epokh
[RPYmat]=RPY3(fia,fio,fin) Author: epokh
[Rmat]=RotX(angle) Author: epokh
[Rmat]=RotY(angle) Author: epokh
[Rmat]=RotZ(angle) Author: epokh
[TJ]=trajectory3VelComputed(t... Author: epokh
[TJ]=trajectory3Velconstraint... Author: epokh
[Tmat]=Tras(px,py,pz) Author: epokh
[fi1,theta,fi2]=invEuler(Eule... Author: epokh
[fia,fio,fin]=invRPY(RPYmat) Author: epokh
[pos,vel,acc]=parabolicblend(... the parabolic starting blend
[theta1,theta2,theta3]=invers... Author: epokh
dT=deltaDiff(T,deltax,deltay,... Author: epokh
plotPolTraj(tpoints,C) Author: epokh
plotT(T) Author: epokh
plotT2(Tprev,Tnext) Author: epokh
pseudoI=pseudoI(m,I,c) Author: epokh
tb=blendingCoeff(thetai,theta... input values:
tdelta=deltaDiffInter(T,delta... Author: epokh
x=pol3interpol(tk,tk1,qk,qk1,... Author: epokh
sixDOFmanipulator.m
somExamples.m
somExamples2.m
test3trajectory.m
testBlending.m
testJointSpaceTrajectory.m
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from robotic toolbox by Paolo Di Prodi
A toolbox for industrial robot manipulator

Tmat=Tsfer(gamma,beta,r)

%% Author: epokh
%% Website: www.epokh.org/drupy
%% This software is under GPL



function Tmat=Tsfer(gamma,beta,r)
%%Transformation in spherical coordinates
%%input: alfa angle along z axis, beta angle along y axis, r trasl along z
%%along z axis
%%output: trasformation matrix
Tmat=RotZ(gamma)*RotY(beta)*Tras(0,0,r);

end

Highlights from robotic toolbox

Highlights from
robotic toolbox