Code covered by the BSD License  

Highlights from
Screw Theory Toolbox

  • mat2pos(A)MAT2POS transform a homogeneous matrix pose information to position vector
  • screw2mat(SC,a)SCREW2MAT maps twist SC and parameter a to matrix representation by means of exponential mapping.
  • vec2screw(v,r)VEC2SCREW transforms line direction v and a point r on the line to screw vector
  • example.minitial position and direction
  • View all files
Be the first to rate this file! 8 Downloads (last 30 days) File Size: 2.38 KB File ID: #46005 Version: 1.0
image thumbnail

Screw Theory Toolbox

by

 

24 Mar 2014 (Updated )

screw theory is used to deduct the kinematics of a serial robot

| Watch this File

File Information
Description

This is a toolbox dealing with the kinematics of robots by means of screw theory written by Hanfucius.Currently three functions are fulfulled, everyone is welcome to add more functions.An example on the kinematics of a quadruped robot leg can describe the classical process of computing the kinematics.

MATLAB release MATLAB 7.10 (R2010a)
Tags for This File   Please login to tag files.
Please login to add a comment or rating.

Contact us