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updated 9 months ago

Screw Theory Toolbox by Hanfucius

screw theory is used to deduct the kinematics of a serial robot (screw, kinematics, toolbox)

MAT=screw2mat(SC,a)

P=mat2pos(A)

SC=vec2screw(v,r)

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updated 10 months ago

DUAL QUATERNION SYMBOLIC TOOLBOX by Hanfucius

can be used for formula deduction represented by dual quaternion algebra (dual, quaternion, symbolic)

av2dq(AV)

dnmult(dn0,dn1)

dq2av(dq)

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