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Simple Forward Kinematics library for robotic chains

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Simple Forward Kinematics library for robotic chains


Bassam Jalgha


23 Apr 2011 (Updated )

Heavily commented functions to plot robotic arms and compute forward kinematics.

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This submission consists of simple and straight forward functions that plots robotic arm configurations and computes forward kinematics transformation matrices. The user has to simply specify the DH parameter matrix (the standard defined in craig's Introduction to Robotics book)
The file contains 5 functions and 1 example.

Feel free to modify add and improve on the code.


This file inspired Dynamics Simulator For Kinematic Chains.

MATLAB release MATLAB 7.8 (R2009a)
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Comments and Ratings (1)
27 Aug 2014 Dakshina Shakya

Dakshina Shakya


Comment only
18 May 2011

Fixed a few bugs

18 May 2011

bug fix

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