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auralius/my-matlab-robotics-toolbox: Collections of reusable MATLAB robotics fun ...

原作者: [db:作者] 来自: 网络 收藏 邀请

开源软件名称(OpenSource Name):

auralius/my-matlab-robotics-toolbox

开源软件地址(OpenSource Url):

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

开源编程语言(OpenSource Language):

MATLAB 100.0%

开源软件介绍(OpenSource Introduction):

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

Screenshot

Auralius Manurung manurunga@yandex.com




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