Code covered by the BSD License
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
from
Kinematics Toolbox
by Brad Kratochvil
The kinematics toolbox is intended for prototyping robotics and computer vision related tasks. |
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