Anthropomorphic arm with 6 DOF and spherical wrist It calculates the Inverse Kinematic of an Anthropomorphic arm with 6 DOF. 'q' is the solutions in radiant and K is the direct Kinematic matrix.
K = [ n s a p; 0 0 0 1] where n, s, a are three vectors fo 3 elements that represents the end-effector's orientation, and p is the desired end-effector position.
It calculates the Inverse Kinematic of an Anthropomorphic arm with 3 DOF. 'q' is the solutions in radiant and K is the direct Kinematic matrix.
K = [ n s a p; 0 0 0 1] where n, s, a are three vectors fo 3 elements...
It's a simple GUI that calculates a random position of the end-effector, calculates the inverse kinematic and plot the joints' trajectory in a figure. You can send the positions to the arm's controller with the 'Send' button.
For a...
A PPRR( 2 Prismatic 2 Revolute) serial manipulator is modeled and kinematic level control is provided to trace a rotated ellipse. Redundancy is removed by providing weights for the Prismatic and Revolute joints. Control is applied using a 4th...
The library is a basic dynamic simulator for kinematic chains. You just need to provide the symbolic Denavit-Hartenber parameter matrix. 'ComputeDynamics' function uses the Euler-Lagrange method to find the joint-space dynamics equation matrices....
This toolbox is of benefit to musculoskeletal modellers in the firld of biomechanics / bioengineering to assist extracting kinematic, kinetic, and EMG information directly from a Vicon C3D file for Matlab manipulation or for input to OpenSim...
The function [T, EPS, SIG]=strain2stress creates an interface that allows computing stress courses from strain courses (from strain gages) using the incremental kinematic model of material hardening which was formulated by MrdoDlz-Garud [1,2].
SSA generates a trayectory matrix from the original series by sliding a window of length L. The trayectory matrix is aproximated using Singular Value Decomposition. The last step reconstructs the series from the aproximated trayectory matrix. The...
his is a complete model of the 1976 US standard atmosphere model with valid data between sea level and 1000 km. This set of functions returns Temperature, Pressure, Density, Speed of Sound, Gravity, Dynamic and Kinematic Viscosity, Coefficient of...
Much of this library was written as I was learning how to use twists for rigid-body computer vision applications as opposed to traditional robotics (e.g. DH parameters and quaternions). My hope is that they are useful for others doing the same....
2D elastoplasticity solver for a time dependent two-yied model, which generalizes a classical model of linear kinematic hardening and features a hysteresis behaviour.
This is an updated version of Jan Valdman's code from his PhD thesis...
The Hexapod is a 6DOF 3D parallel platform Manipulator. In a course on articulated systems, we simplify it to a 3PRR by taking the top view projection and control the same using techniques taught in the course. We have explained that in the...
Airlib is a library of aircraft models to be used with Simulink 3.1 (MATLAB 5.3) or later (tested on 6.1 & 6.5).
It is based on two basic blocks that implement a continuous-time and a discrete-time nonlinear general aircraft model....
The standard problem of a Two Link Manipulator is developed both kinematically and dynamically. It is then controlled to trace a rotated ellipse. The non-linear terms (like gravity/inertia etc.) are exclusively canceled out in varying degrees and...
Basic concepts in kinematics are implemented in classes. Due to this object-orientated programming, operations are easy to handle.
These classes belong to the toolbox:
o The DualNumber Class o The Quaternion Class o... |