Serial-RPR Kinematics Visualizer (v1.1)

Simulate a serial chain mechanism by direct manipulation and even record/playback motion sequences!
Updated 11 Sep 2013

View License

View a demo (v1.0) at:

New in this update:
* Bugs fixed, Refinements made.
* See comments in .m file for more detail

Highlights -----------------------------
* This mechanism is configured with a revolute ground joint, then prismatic and revolute joints (RPR).
Use Forward Kinematics mode to control the joint parameters or Inverse Kinematics mode to control the end effector position and orientation.
* The geometry can be specified by a single ratio parameter.
* The Trace Recorder tool records end effector position and orientation while the user controls the mechanism and saves a .mat file containing the data
* The Trace Playback tool loads a .mat data file and allows the user to step through the recorded motion sequence.

Cite As

Mark Tomaszewski (2024). Serial-RPR Kinematics Visualizer (v1.1) (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2011a
Compatible with any release
Platform Compatibility
Windows macOS Linux
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Version Published Release Notes

Update from v1.0 to v1.1; Bug fixes, refinements.

Added bug and update intent notes to description.