The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and inverse kinematics, Jacobians, and forward and inverse dynamics. This article introduces the Toolbox in tutorial form, with examples chosen to demonstrate a range of capabilities. The complete Toolbox and documentation is freely available via anonymous ftp

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  1. Gismondi, Francesco; Possieri, Corrado; Tornambe, Antonio: A solution to the path planning problem via algebraic geometry and reinforcement learning (2022)
  2. Nguyen, Viet Anh; Kuhn, Daniel; Esfahani, Peyman Mohajerin: Distributionally robust inverse covariance estimation: the Wasserstein shrinkage estimator (2022)
  3. Pereira, Renan L.; de Oliveira, Matheus S.: Mixed-sensitivity (\mathcalL_2) controller synthesis for discrete-time LPV/LFR systems (2022)
  4. Ahmadi, Amir Ali; El Khadir, Bachir: Time-varying semidefinite programs (2021)
  5. Althoff, Matthias; Rath, Jagat Jyoti: Comparison of guaranteed state estimators for linear time-invariant systems (2021)
  6. Aranovskiy, Stanislav; Efimov, Denis; Sokolov, Dmitry; Wang, Jian; Ryadchikov, Igor; Bobtsov, Alexey: Switched observer design for a class of locally unobservable time-varying systems (2021)
  7. Belamfedel Alaoui, Sadek; Tissir, El Houssaine; Chaibi, Noreddine: New design of anti-windup and dynamic output feedback control for TCP/AQM system with asymmetrical input constraints (2021)
  8. Bramburger, Jason J.; Henderson, Christopher: The speed of traveling waves in a FKPP-Burgers system (2021)
  9. Carvalho, Sidney Roberto; Moreno, Ubirajara Franco: Optimal design for manipulation of random consensus over discrete information in networked systems (2021)
  10. Caun, Rodrigo da Ponte; Assunção, Edvaldo; Teixeira, Marcelo Carvalho Minhoto: (\mathcalH_2/\mathcalH_\infty) formulation of LQR controls based on LMI for continuous-time uncertain systems (2021)
  11. Cheraghiyan, M.: A new separated fault estimator and fault-tolerant control design strategy for uncertain nonlinear systems using T-S fuzzy modeling (2021)
  12. Deenen, Daniel Andreas; Sharif, Bardia; van den Eijnden, Sebastiaan; Nijmeijer, Hendrik; Heemels, Maurice; Heertjes, Marcel: Projection-based integrators for improved motion control: formalization, well-posedness and stability of hybrid integrator-gain systems (2021)
  13. de Oliveira, Matheus Senna; Pereira, Renan Lima: On unknown input observers designs for discrete-time LPV systems with bounded rates of parameter variation (2021)
  14. Guo, Feng; Jiao, Liguo: On solving a class of fractional semi-infinite polynomial programming problems (2021)
  15. Hamdipoor, Vahid; Moon, Jun; Kim, Yoonsoo: Sensitivity-based link addition for robust linear dynamical networks (2021)
  16. Hashikura, Kotaro; Jaafar, Jad Musaddiq Bin; Kojima, Akira; Kamal, Md Abdus Samad; Yamada, Kou: LQ preview state feedback with output regulation constraint (2021)
  17. Koch, Anne; Berberich, Julian; Köhler, Johannes; Allgöwer, Frank: Determining optimal input-output properties: a data-driven approach (2021)
  18. Lefkopoulos, Vasileios; Kamgarpour, Maryam: Trajectory planning under environmental uncertainty with finite-sample safety guarantees (2021)
  19. Lejarza, Fernando; Baldea, Michael: Economic model predictive control for robust optimal operation of sparse storage networks (2021)
  20. Lipták, György; Hangos, Katalin M.; Szederkényi, Gábor: Stabilizing feedback design for time delayed polynomial systems using kinetic realizations (2021)

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