Tham khảo sách 'robotics toolbox for matlab', kỹ thuật - công nghệ, tự động hoá phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Robotics TOOLBOX for MATLAB Release 6 Peter I. Corke pic@ http cmst staff pic robot April 2001 Peter I. Corke CSIRO Manufacturing Science and Technology Pinjarra Hills AUSTRALIA. 2001 http cmst staff pic robot CSIRO Manufacturing Science and Technology 2001. Please note that whilst CSIRO has taken care to ensure that all data included in this material is accurate no warranties or assurances can be given about the accuracy of the contents of this publication. CSIRO Manufacturing Science and Technolgy makes no warranties other than those required by law and excludes all liability including liability for negligence in relation to the opinions advice or information contained in this publication or for any consequences arising from the use of such opinion advice or information. You should rely on your own independent professional advice before acting upon any opinion advice or information contained in this publication. 3 1 Preface 1 Introduction This Toolbox provides many functions that are useful in robotics including such things as kinematics dynamics and trajectory generation. The Toolbox is useful for simulation as well as analyzing results from experiments with real robots. The Toolbox has been developed and used over the last few years to the point where I now rarely write C code for these kinds of tasks. The Toolbox is based on a very general method of representing the kinematics and dynamics of serial-link manipulators. These parameters are encapsulated in Matlab objects. Robot objects can be created by the user for any serial-link manipulator and a number of examples are provided for well know robots such as the Puma 560 and the Stanford arm. The toolbox also provides functions for manipulating datatypes such as vectors homogeneous transformations and unit-quaternions which are necessary to represent 3-dimensional position and orientation. The routines are generally written in a straightforward manner which allows .
