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Highlights from
Kinematics Toolbox

• ad(h) AD Performs the adjoint transform
• animframetraj(t, scale, folde... ANIMFRAMETRAJ animates a series of frames
• arrow3(O, D, color, linewidth) ARROW3 plots a 3d arrow
• bjacob(r, theta) BJACOB Calculate the body jacobian for the r
• createtwist(omega, q) CREATETWIST Inputs a skew and a point, and returns a twist
• dimg(level, name, img) DIMG displays an image if DebugLevel > level
• dout(level, varargin) DOUT displays the string if DebugLevel > level
• drawframe(r, scale, alternate... DRAWFRAME plots a graphical description of a coordinate frame
• drawframediff(t1, t2) DRAWFRAMEDIFF plots the difference between t1 and t2
• drawframetraj(t, scale) DRAWFRAMETRAJ plots the a series of homogeneous transforms
• drawskew(omega) DRAWSKEW plot a skew's axis of rotation
• drawskewtraj(omega, theta) DRAWSKEWTRAJ generates a graphical description of a screw over a series
• drawtwist(xi) DRAWTWIST plot a twist's axis of rotation
• drawtwisttraj(xi, theta) DRAWTWISTTRAJ generates a graphical description of a twist over a series
• dtor(val) DTOR converts degrees to radians
• fast_skewexp(s) SKEWEXP Calculate the exponential of a skew-symmetric matrix.
• fast_twistexp(xi) TWISTEXP Calculate the exponential of a twist matrix.
• fkine(r, theta) FKINE forward kinematics for serial link manipulator
• getkeywait(m)
• homdiff(ta, tn, method) HOMDIFF Compute differential between two homogeneous transforms in twist
• homerror(ta, tn) HOMEERROR calculates the error between two homogeneous transforms
• homtotwist(t) HOMTOTWIST finds a twist and a theta to create the homogeneous transform T
• iad(xi) IAD Performs the inverse adjoint transform
• ikine(rn, pose, x0, tol) IKINE inverse kinematics for serial link manipulator
• ikine2(rn, pose, joints, tol) IKINE2 inverse kinematics for serial link manipulator
• isequalf(a, b, thresh) ISEQUALF Returns true if the two quantities are equal within a threshold
• ishom(t) ISHOM returns true if the matrix is a homogeneous transform
• isrobot(r) ISROBOT Returns 1 if the matrix is a robot
• isrot(r) ISROT returns true if the matrix is a rotation matrix
• isskew(r) ISSKEW returns true if the matrix is a skew-semmetric matrix
• istwist(xi) ISTWIST returns true if the matrix is a twist
• man(p) MAN emulates man function from the console
• named_figure(str, id) NAMED_FIGURE selects a figure based on a string instead of by number
• nice3d() NICE3D make 3d plots nicer
• noisehom(T, nr, np) NOISEHOM applies uniformly distributed noise to a homogeneous transform
• noiseskew(omega, n) NOISESKEW applies uniformly distributed noise to a skew
• noisetwist(xi, np, nt) NOISETWIST applies uniformly distributed noise to a twist
• pos(x, y, z) POS Set or extract the translational part of a homogeneous matrix
• randhom(scale) RANDHOM generates a pseudo-random homogeneous transform
• randskew() RANDSKEW generates a pseudo-random skew vector
• randtwist(ch) RANDTWIST generates a pseudo-random twist vector
• robot(XI, GST, THETA) ROBOT creates a robot struct
• robotparams(r) ROBOTPARAMS returns a parameter vector from a robot
• rot(x) ROT extracts the rotational part of a homogeneous matrix
• rotaxis(R, theta) ROTAXIS calculate the axis of rotation for a matrix R
• rotparam(r) ROTPARAM pulls a skew matrix and theta out of a rotation matrix
• rotx(phi) ROTX rotate around X by PHI
• rotxh(phi) ROTXH return homogeneous rotation matrix around X by PHI
• roty(beta) ROTY rotate around Y by BETA
• rotyh(beta) ROTY return homogeneous rotation matrix around Y by BETA
• rotz(alpha) ROTX rotate around Z by ALPHA
• rotzh(alpha) ROTX return homogeneous rotation matrix around Z by ALPHA
• rpy(R) RPY returns the X-Y-Z fixed angles of rotation matrix R
• rrp() RRP generate a simple roll, roll, prismatic robot
• rtod(val) RTOD converts radians to degrees
• sjacob(r, theta) SJACOB calculate the spatial jacobian for the robot
• skew(w) SKEW generates a skew-symmetric matrix given a vector w
• skewcoords(R) SKEWCOORDS generates a vector w given a skew-symmetric matrix R
• skewexp(s, theta) SKEWEXP calculate the exponential of a skew-symmetric matrix
• skewlog(R) SKEWLOG calculate the log of a rotation matrix
• transl(x, y, z) TRANSL set or extract the translational part of a homogeneous matrix
• twist(xi) TWIST convert xi from a 6-vector to a 4 x 4 skew-symmetric matrix
• twistaxis(xi) TWISTAXIS inputs a twist and returns the axis
• twistcoords(xi) TWISTCOORDS convert xi from a 4 x 4 skew symmetric matrix to a 6-vector
• twistexp(xi, theta) TWISTEXP calculate the exponential of a twist matrix.
• twistlog(h) TWISTLOG calculate the log of a homogeneous transformation
• twistmagnitude(xi) TWISTMAGNITUDE inputs a twist and returns the magnitude
• twistpitch(xi) TWISTPITCH inputs a twist and returns the pitch
• example_kinematics.m
• example_robotlinks.m
• example_swimmer.m
• test_screws.m
• example_frame_traj_movie.mpg
• swimmer_movie.mpg
• View all files