Code covered by the BSD License  

Highlights from
Kinematics Toolbox

4.66667

4.7 | 3 ratings Rate this file 66 Downloads (last 30 days) File Size: 10.2 MB File ID: #24589
image thumbnail

Kinematics Toolbox

by

 

29 Jun 2009 (Updated )

The kinematics toolbox is intended for prototyping robotics and computer vision related tasks.

| Watch this File

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)
Tags for This File   Please login to tag files.
Please login to add a comment or rating.
Comments and Ratings (3)
07 Mar 2014 JK Hwang

I have a question. How can I transform the twist coordinates to the homogeneous transforms without theta? The theta is unknown, so it must be estimated only using the twist(6 DOF). Is it possible?

30 Nov 2011 Aris Synodinos  
07 Feb 2010 Mohammad Esmaeili

nice work, thanks

Updates
15 Jul 2009

removed unnecessary extra system files added by Mac OS

Contact us