https://github.com/auralius/matlab-dh-parameters
Simple DH-parameter implementation in MATLAB
https://github.com/auralius/matlab-dh-parameters
Last synced: 3 months ago
JSON representation
Simple DH-parameter implementation in MATLAB
- Host: GitHub
- URL: https://github.com/auralius/matlab-dh-parameters
- Owner: auralius
- Created: 2016-05-03T19:49:25.000Z (about 10 years ago)
- Default Branch: master
- Last Pushed: 2016-10-27T12:59:45.000Z (over 9 years ago)
- Last Synced: 2025-03-27T05:23:33.893Z (about 1 year ago)
- Language: Matlab
- Size: 48.8 KB
- Stars: 7
- Watchers: 1
- Forks: 4
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# DH-Parameters with MATLAB
Simple and straight-forward implementation of DH-parameters in MATLAB
This can be used to execute forward kinematics of the robot to find position and orientation of every link of the robot.
Features:
* Forward kinematics
* Homogenous transformation of each link of the robot
* Numerical jacobian
* Simple visualization, it can also be animated
* Inverse kinematics with the pseudo-inverse method.
How to use:
* Create the robot structure with **serial_arm_init**.
* Actuate the joint with **serial_arm_set_joint_pos** or with **serial_arm_set_all_joint_pos** functions.
* Update robot internal structures with **serial_arm_update**
* If necessary, plot the robot with **serial_arm_plot**
![Screenshot][sshot]
[sshot]: https://raw.githubusercontent.com/auralius/matlab-dh-parameters/master/sshot.png "Screenshot"
Auralius Manurung
manurung.auralius@gmail.com