https://github.com/auralius/my-matlab-robotics-toolbox

Collections of reusable MATLAB robotics functions, can be compilled to DLL and called with LabVIEW.
https://github.com/auralius/my-matlab-robotics-toolbox

denavit-hartenberg kinematics puma robotics scara

Last synced: about 2 months ago
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Collections of reusable MATLAB robotics functions, can be compilled to DLL and called with LabVIEW.

• Host: GitHub
• URL: https://github.com/auralius/my-matlab-robotics-toolbox
• Owner: auralius
• Created: 2016-10-28T10:09:53.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2022-02-19T06:26:02.000Z (over 2 years ago)
• Last Synced: 2024-01-28T23:12:19.368Z (8 months ago)
• Topics: denavit-hartenberg, kinematics, puma, robotics, scara
• Language: MATLAB
• Homepage:
• Size: 105 KB
• Stars: 25
• Watchers: 2
• Forks: 11
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

• awesome-made-by-indonesian - matlab-robotics-toolbox - `Collections of reusable MATLAB robotics functions, can be compilled to DLL and called with LabVIEW.` *by [Auralius Manurung](https://github.com/auralius)* (M)
• made-in-indonesia - matlab-robotics-toolbox - `Collections of reusable MATLAB robotics functions, can be compilled to DLL and called with LabVIEW.` *by [Auralius Manurung](https://github.com/auralius)* (M)

README

        
# my-matlab-robotics-toolbox

A simple and straightforward implementation of the DH-parameters in MATLAB  

There are two different conventions on the implementation of the DH-parameters. This one uses the standard DH-parameters which can as well be found in this book: https://www.cs.duke.edu/brd/Teaching/Bio/asmb/current/Papers/chap3-forward-kinematics.pdf. The results have been validated with Peter Corke's RVC toolbox (https://github.com/petercorke/robotics-toolbox-matlab).

**cgr** prefix means the code is code-generation ready.    

**ncgr** means the code is **NOT** code-generation ready.

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 and damped least square method.

* Code generation ready.

How to use:

* Create a global variable N_DOFS and define the number of degree-of-freedom of the robot in it. The reason why global variable is used is because I keep having problems in using the dynamic memory allocation for MATLAB coder. Therefore, I use global variable to define the dimension of the necessary static arrays.

* Create the robot structure with **cgr_create**.

* Actuate and update the joint with **cgr_self_update** functions.

* If necessary, plot the robot with **ncgr_plot** by first calling **ncgr_graphic** once at the beginning of the program.

* To create the compiled MEX or DLL files, two examples of MATLAB Coder project files  are provided. This is where the global variable is used.

![Screenshot][sshot]

[sshot]: https://raw.githubusercontent.com/auralius/my-matlab-robotics-toolbox/master/sshot.png "Screenshot"

![Screenshot][sshot2]

[sshot2]: https://raw.githubusercontent.com/auralius/my-matlab-robotics-toolbox/master/sshot2.png "Screenshot2"

Auralius Manurung 

[email protected]