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Kinematics Toolbox

4.9 | 9 ratings Rate this file 93 Downloads (last 30 days) File Size: 10.2 MB File ID: #24589 Version: 1.1
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Kinematics Toolbox


Brad Kratochvil (view profile)


29 Jun 2009 (Updated )

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

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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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Comments and Ratings (10)
29 Sep 2016 Sung-Chi CHIANG

Very useful, thank you!

17 Jul 2016 Naresh Marturi

17 May 2016 Andrea Velasco

Very useful and well documented, thank you!

11 Mar 2016 arun s

arun s (view profile)

25 Feb 2016 Vassilis Moulianitis

29 Nov 2015 QINGWEI WANG

28 Feb 2015 Amin Mohammed

Good job, it saved me a lot of time, Thanks

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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

15 Jul 2009 1.1

removed unnecessary extra system files added by Mac OS

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