Sim.I.am by Jean-Pierre de la Croix

A MATLAB-based educational bridge between theory and practice in robotics. (robotics, control design, simulation)

GetArg(S, Name, Default)

ParseArgs(Args, varargin)

findjobj(container,varargin)

Trajectory Generation (3rd & 5th orders) by Reza Ahmadzadeh

Two functions to create smooth trajectories with boundary conditions. (robot, 3rd, generator)

createTraj3(theta0,thetaf,thetad0,thetadf,tstart,tfinal)

createTraj5(theta0,thetaf,thetad0,thetadf,thetadd0,thetaddf...

test.m

Averaging Quaternions by Tolga Birdal

This function computes the average (mean) quaternion. (rotation, mean, average)

[Qavg]=avg_quaternion_markley(Q)

[]=test_avg_quaternion()

quaternion.m by Mark Tincknell

quaternion class, vectorized, converts among rotation representations, numerical Euler propagation (rotation, aerospace, euler)

quaterniondemo( time, sap, DCMin, interval )

quaterniondemo2

quaternion

Smart Manufacturing Robotics Cyber Physical System by Pieter Mosterman

Distributed Towers of Hanoi where three blocks with local control emerge in a sorted order. (towers of hanoi, cyberphysical system, manufacturing)

(Enumeration) NozzleOps

slider_feedback_control_v5.m

start_here.m

Simulink Support for Kinect by Takashi Chikamasa

Simulink Support for Kinect is a set of Simulink blocks interfaced with OpenNI and Kinect SDK. (image processing, instrument driver, demo)

checkDeviceBlock(model, maskType)

checkIMAQBlock(model, blk)

corner_detection_viewer(block)

Simulink for PCV (Point Cloud Viewer) by Takashi Chikamasa

Simulink for PCV is a block for 3D Point Cloud View and wrapped native OpenCV library. (image processing, simulink, demo)

makeInfo=rtwmakecfg()

makecmexfile4pcv

setup_opencv(varargin)

Simulation and Limited Redesign of a Counterbalanced Two Link Robotic Manipulator by James Allison

Supplementary material for an ASME publication regarding limited redesign of mechatronic systems. (aerospace, automotive, control design)

[E,t1,q1,q2,qd1,qd2,qdd1,qdd2,torque,g]...

fwd_kin(q,x)

SimulateCBTwolink.m

Range and Bearing Control of an Ensemble of Robots by Aaron Becker

Game for steering many robots to fire suction-cup darts at a target.(note: still under development.) (control design, robotics, robot)

GenerateDataUniformControlCollisionCheck

ParseGenerateDataUniformControlCollisionCheck

jasontron2012()

SCARA Manipulator by MOHAMMED ELAMASSIE

Full Software package for the SCARA manipulator (path planning and trajectory) (control design, robotics)

J=Jacobian(th1,th2)

Path_PLaning(OI,OF,TH4)

SCARA_GUI(varargin)

Inverse Optimal Functions for Motoman HP-3 Tip Precision by Alan Jennings

A population based optimization increases pointing precision for a planar robotic arm. (robotics, inverse, inverse kinematics)

Clusters=ClusterGenerate_4(TestPoint,J,J_Grad,Y_Grad,Option...

Delta_X=PSO_OptFun_CostDescent_Armijo_1(Particles,Options)

[Delta_X, NewPoint]=PullStepInside3(TestPoint,TestPointJ,Te...

Ray Casting for Implementing Map based Localization in Mobile Robots by Shikhar Shrestha

The code is an efficient implementation of ray casting used to obtain simulated range measurements. (ray casting, particle filters, monte carlo localizat...)

[range]=castrays(xc,yc,map,n,lidarrange)

3-PRR Planar Parallel Manipulator Analysis GUI by Priyanshu Agarwal

GUI for analysis of manipulability, workspace and path tracking of a 3-PRR manipulator (robotics)

PRR3_ForwardPosKin(x0,P11,P12,P13,d,b,a,d3,n_limit)

PRR3_GUI_2(varargin)

PRR3_InversePosKin(P11,P12,P13,Pe,b,a,d3)

PhantomX Robot Turret Controller by Gavin

Control the Trossen Robotics PhantomX RoboTurret: http://www.youtube.com/watch?v=YLt_fZFXYRw (phantomx, roboturret, trossen robotics)

strpad(stringVal,totalChars,charPosition,fillChar)

PhantomXMessagePort

PhantomXSequencePlayer

Stereo testbed v0.1 by Raul Correal

Testbed for analysis, evaluation and comparison of stereo matching algorithm. (stereo vision, image processing, testbed)

IterativeAveragingFilter.m

Luv2RGB(luvim)

RGB2Luv(im)

Hokuyo URG-04LX LIDAR Driver for MATLAB by Shikhar Shrestha

This a simple driver for the Hokuyo URG-04LX USB LIDAR for MATLAB. (hokuyu, lidar, urg04lx)

[rangescan]=LidarScan(lidar)

rangeval=decodeSCIP(rangeenc)

DisconnectLidar.m

Simulation and Limited Redesign of a Two Link Robotic Manipulator by James Allison

Supplementary material for an AIAA publication regarding limited redesign of mechatronic systems. (robotics, aerospace, control design)

[E,t1,q1,q2,qd1,qd2,qdd1,qdd2,torque,g]...

fwd_kin(q,x)

SimulateTwolink.m

MATLAB Support Package for Finch Robot by Tom Gaudette

MATLAB connectivity code to a Finch Robot (programming, teaching, robotics)

Finch

finchComm

mFinch

Matlab Toolbox for the Intelitek Scorbot by Joel

Control the Scorbot ER-U4 robot from Matlab (robot, scorbot, robotics)

BSEPR=ScorGetJt

BSEPR=ScorGetJt

RVal=ScorCreateVector(Name,Len)

Shortest path identification with obstacle avoidance by Mohd Faiz Abd Razak

A set of functions to identify the shortest path between two points inside a closed polygonal arena (obstacle avoidance, boundary, maze solver)

line_of_sight(observer_state, current_target_node, external...

pathfinder(start_point, end_point, external_boundaries)

pathfinder_test.m

Matlab Toolbox for the iRobot Create V2.0 by Joel

Control the iRobot Create from a PC or laptop running Matlab. (robot, robotics, mtic)

AngleSensorRoomba(serPort);

BatteryChargeReaderRoomba(serPort);

BatteryVoltageRoomba(serPort);

Dynamics Simulator for Kinematic Chains by Bassam Jalgha

This is a library that performs a dynamics simulation of a robotic arm. (kinematic chains, lagrangian, control design)

Tr=FKinematics(DH,varargin)

Tr=RobotPlot(DH,varargin)

Tr=SYM_sub(T,varargin)

3D Rotation about Shifted Axis by Matt J

Computes/applies rotation about arbitrary 3D line. (rotation matrix, rotation, affine transform)

varargout=AxelRot(varargin)

Simple Forward Kinematics library for robotic chains by Bassam Jalgha

Heavily commented functions to plot robotic arms and compute forward kinematics. (modeling, robotic arm, robotics)

Tr=FKinematics(DH,varargin)

Tr=RobotPlot(DH,varargin)

Tr=SYM_sub(T,varargin)

describot by Joseph Russino

Computes a number of useful properties for serial robotic manipulators. (robotics)

compileReport(name, dh_parameters, configuration, T0_N, w, ...

describot(varargin)

genFwdKin(dh_parameters)

Euler/Fixed Angles Properties by Husam Aldahiyat

Graphical display of Euler and Fixed Angles (euler, robot, gui)

eangles

eulfor(a,b,g,con)

rotx(t)

Optimization Algorith for Uncertain Nonlinear Dynamic System by Khairul Redwan

Dynamic Integrated System Optimization and Parameter Estimation (DISOPE) Technique (algorithm, robotics, disope)

[ u, x, p, cnv, ztrue]=disope( u0, A, B, Q, R, PHI, r1, r2...

fstar( x, u, option )

lstar( x, u , option )

Weighted Kinematic Control of PPRR Manipulator by Hrishi Shah

A PPRR serial redundant Manipulator is modeled and controlled to trace a rotated ellipse. (robotics, manipulator, control)

botFwdKinematics2(x,y,th1,th2)

botInvKinematics2(xe,ye,r0)

botThetaDot2(r,reDot,P,Q)

Dynamic Control of a Wheeled Mobile Robot by Hrishi Shah

Non-linear feedback linearization is applied to the dynamics of a wheeled mobile robot. (wheeled, control, robotics)

WMR_TRAJTRACK(t,X,L1,L2)

plotbot_WMR(t,X,index,txt1)

HW6_MAIN_1.m

Kinematic/Dynamic Control of a Two Link Manipulator by Hrishi Shah

Kinematic and Dynamic models of a Two Link Manipulator undergo non-linear feedback linearization. (manipulator, kinematic, control)

DYN_CL_B1(t,X)

DYN_CL_B2(t,X)

DYN_CL_B3(t,X)

Kinematic Control of 3PRR - Articulated form of Hexapod by Hrishi Shah

A Hexapod is modeled as a 3PRR by taking top view projection and controlled Kinematically. (control, kinematics, robotics)

[]=parallelplot1(j_vars, bases, lengths)

[qdot]=Mydiff(t,x)

[x]=myfunc(bx, by, phi)

4RRR Parallel Manipulator by Hrishi Shah

This file is obsolete. newer version available in description. (parallel, manipulator, robotics)

[]=newtry()

[]=parallelplot1(j_vars, bases, ends, lengths)

[qdot]=Mydiff(t,x)

(7+1) DOF 3-d Virtual Manipulator GUI by Priyanshu Agarwal

Forward Kinematics of a (7+1) DOF manipulator is implemented using Virtual Reality Toolbox and GUI (robotics)

Manipulator_GUI(varargin)

Input-Output Linearization of planar 3-link manipulator by Vikash Gupta

Control of 3-link manipulator (3link manipulator, inputoutput lineariza..., nonlinear control)

Fphi=equaphi(phi)

Fphi=equay(phi)

Fx=equax(x)

Simulation of a one-legged hopping robot by Guy Rouleau

Simulation of a one-legged hopping robot (3d, leg, simmechanics)

sfuntraj(t,x,u,flag,axes,Ts,mode)

init_hopper.m

OneLeg_VR_TouchInput

Kinematics Toolbox by Brad Kratochvil

The kinematics toolbox is intended for prototyping robotics and computer vision related tasks. (kinematics, computer vision, homeogeneous transfor...)

ad(h)

animframetraj(t, scale, foldername, basename)

arrow3(O, D, color, linewidth)

Robotics by badr Higab

this code draws 16 robot that the user select. the original drawings were made using ProE. (robotics, cool robot, ultimate)

robotics(varargin)

4RRR Kinematics with GUI and Mouse Support by Hrishi Shah

Fully Generalized 4RRR Kinematics with GUI (kinematic, control, parallel)

A_4RRR_Gui(varargin)

[]=parallelplot1(j_vars, bases, lengths, platformplot ,serp...

[platformplot serplot curveplot]=parallelplot1init(j_vars, ...

Temporal Potential Function based Path Planner for Dynamic Environments by Vamsikrishna Gopikrishna

Simulates the Temporal Potential Function approach for Path Planning in Dynamic Environments (path planning, potential function, artificial intelligen...)

backward_chain(w,tr,tc,la)

calc_pot_values(w)

extend_world(rows,cols,obs,goal,lookahead)

Robot position finder by Muhammad Usman Awais

Finds the poistion of a robot on a chess board.A common robotic problem (robotics)

RobotPositionFinder( Pboard, Pdimrows , Pdimcols , Pleft_co...

Olin Robotics Blockset for xPC Target by John Kluza

xPC Target drivers for common robotics devices with example models. (drivers, gps, robotics)

slblocks

LMS291_ChangeTo500KBaudRate.m

LMS291_Init.m

SIRF - Simple Robotics Framework for Rhino Robot by Venkatraghavan Gourishankar

A framework which will teach basics of robotics such as Kinematics and Trajectory planning both by s (mechanical engineerin..., rhino, robot)

rhinoForwardKinematics(angle)

rhinoGui_final(varargin)

rhinoInverse(armMatrix)

3D Rotations by Giampiero Campa

3D Space Coordinate Transformations (coordinates, rotation matrices, mechanical modeling)

Mb=m2m(Ma,T)

T=x2t(x,str)

x=t2x(T,str)

Elementary Robotic Toolbox by Narasimhan Rangan

MATLAB fuctions to perform basic manipulations and DH transformation. (robotics, manipulations, dh transformation)

R=axis2rot(theta,k)

R=linearR(R1,k,theta,t1,t)

T=fkine(a,d,alpha,theta)