Code covered by the BSD License
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ad(h)
AD Performs the adjoint transform
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animframetraj(t, scale, folde...
ANIMFRAMETRAJ animates a series of frames
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arrow3(O, D, color, linewidth)
ARROW3 plots a 3d arrow
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bjacob(r, theta)
BJACOB Calculate the body jacobian for the r
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createtwist(omega, q)
CREATETWIST Inputs a skew and a point, and returns a twist
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dimg(level, name, img)
DIMG displays an image if DebugLevel > level
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dout(level, varargin)
DOUT displays the string if DebugLevel > level
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drawframe(r, scale, alternate...
DRAWFRAME plots a graphical description of a coordinate frame
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drawframediff(t1, t2)
DRAWFRAMEDIFF plots the difference between t1 and t2
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drawframetraj(t, scale)
DRAWFRAMETRAJ plots the a series of homogeneous transforms
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drawskew(omega)
DRAWSKEW plot a skew's axis of rotation
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drawskewtraj(omega, theta)
DRAWSKEWTRAJ generates a graphical description of a screw over a series
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drawtwist(xi)
DRAWTWIST plot a twist's axis of rotation
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drawtwisttraj(xi, theta)
DRAWTWISTTRAJ generates a graphical description of a twist over a series
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dtor(val)
DTOR converts degrees to radians
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fast_skewexp(s)
SKEWEXP Calculate the exponential of a skew-symmetric matrix.
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fast_twistexp(xi)
TWISTEXP Calculate the exponential of a twist matrix.
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fkine(r, theta)
FKINE forward kinematics for serial link manipulator
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getkeywait(m)
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homdiff(ta, tn, method)
HOMDIFF Compute differential between two homogeneous transforms in twist
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homerror(ta, tn)
HOMEERROR calculates the error between two homogeneous transforms
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homtotwist(t)
HOMTOTWIST finds a twist and a theta to create the homogeneous transform T
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iad(xi)
IAD Performs the inverse adjoint transform
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ikine(rn, pose, x0, tol)
IKINE inverse kinematics for serial link manipulator
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ikine2(rn, pose, joints, tol)
IKINE2 inverse kinematics for serial link manipulator
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isequalf(a, b, thresh)
ISEQUALF Returns true if the two quantities are equal within a threshold
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ishom(t)
ISHOM returns true if the matrix is a homogeneous transform
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isrobot(r)
ISROBOT Returns 1 if the matrix is a robot
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isrot(r)
ISROT returns true if the matrix is a rotation matrix
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isskew(r)
ISSKEW returns true if the matrix is a skew-semmetric matrix
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istwist(xi)
ISTWIST returns true if the matrix is a twist
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man(p)
MAN emulates man function from the console
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named_figure(str, id)
NAMED_FIGURE selects a figure based on a string instead of by number
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nice3d()
NICE3D make 3d plots nicer
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noisehom(T, nr, np)
NOISEHOM applies uniformly distributed noise to a homogeneous transform
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noiseskew(omega, n)
NOISESKEW applies uniformly distributed noise to a skew
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noisetwist(xi, np, nt)
NOISETWIST applies uniformly distributed noise to a twist
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pos(x, y, z)
POS Set or extract the translational part of a homogeneous matrix
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randhom(scale)
RANDHOM generates a pseudo-random homogeneous transform
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randskew()
RANDSKEW generates a pseudo-random skew vector
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randtwist(ch)
RANDTWIST generates a pseudo-random twist vector
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robot(XI, GST, THETA)
ROBOT creates a robot struct
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robotparams(r)
ROBOTPARAMS returns a parameter vector from a robot
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rot(x)
ROT extracts the rotational part of a homogeneous matrix
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rotaxis(R, theta)
ROTAXIS calculate the axis of rotation for a matrix R
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rotparam(r)
ROTPARAM pulls a skew matrix and theta out of a rotation matrix
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rotx(phi)
ROTX rotate around X by PHI
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rotxh(phi)
ROTXH return homogeneous rotation matrix around X by PHI
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roty(beta)
ROTY rotate around Y by BETA
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rotyh(beta)
ROTY return homogeneous rotation matrix around Y by BETA
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rotz(alpha)
ROTX rotate around Z by ALPHA
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rotzh(alpha)
ROTX return homogeneous rotation matrix around Z by ALPHA
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rpy(R)
RPY returns the X-Y-Z fixed angles of rotation matrix R
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rrp()
RRP generate a simple roll, roll, prismatic robot
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rtod(val)
RTOD converts radians to degrees
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sjacob(r, theta)
SJACOB calculate the spatial jacobian for the robot
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skew(w)
SKEW generates a skew-symmetric matrix given a vector w
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skewcoords(R)
SKEWCOORDS generates a vector w given a skew-symmetric matrix R
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skewexp(s, theta)
SKEWEXP calculate the exponential of a skew-symmetric matrix
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skewlog(R)
SKEWLOG calculate the log of a rotation matrix
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transl(x, y, z)
TRANSL set or extract the translational part of a homogeneous matrix
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twist(xi)
TWIST convert xi from a 6-vector to a 4 x 4 skew-symmetric matrix
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twistaxis(xi)
TWISTAXIS inputs a twist and returns the axis
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twistcoords(xi)
TWISTCOORDS convert xi from a 4 x 4 skew symmetric matrix to a 6-vector
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twistexp(xi, theta)
TWISTEXP calculate the exponential of a twist matrix.
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twistlog(h)
TWISTLOG calculate the log of a homogeneous transformation
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twistmagnitude(xi)
TWISTMAGNITUDE inputs a twist and returns the magnitude
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twistpitch(xi)
TWISTPITCH inputs a twist and returns the pitch
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example_kinematics.m
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example_robotlinks.m
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example_swimmer.m
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test_screws.m
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example_frame_traj_movie.mpg
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swimmer_movie.mpg
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View all files
Kinematics Toolbox
by Brad Kratochvil
29 Jun 2009
(Updated 15 Jul 2009)
The kinematics toolbox is intended for prototyping robotics and computer vision related tasks.
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Watch this File
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| File Information |
| Description |
Much of this library was written as I was learning how to use twists for rigid-body computer vision applications as opposed to traditional robotics (e.g. DH parameters and quaternions). My hope is that they are useful for others doing the same. The toolbox is broken up into functions that deal primarily with homogeneous transforms and their Lie algebra, and a set of functions for interacting with serial link kinematic structures. There are also quite a few functions for generating nice plots and animations of the results. Included is an html documentation page that lists all the functions and each function provides its own documentation. |
| MATLAB release |
MATLAB 7.2 (R2006a)
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| Updates |
| 15 Jul 2009 |
removed unnecessary extra system files added by Mac OS |
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