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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
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3.0 | 2 ratings Rate this file 7 Downloads (last 30 days) File Size: 2.38 KB File ID: #46005 Version: 1.0
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Screw Theory Toolbox



24 Mar 2014 (Updated )

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

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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)
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Comments and Ratings (2)
11 Sep 2016 Arnaud TANGUY

29 Aug 2016 Donghua Zhao

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