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robotics-tools

Robotics design and analysis tools.

transformation_matrices.py

Functions for calculating Basic Transformation Matrices in 3D space. Can be used to calculate homogeneous transformations (rotation and translation) for serial kinematic chain manipulators.

RobotKinematics.m

MATLAB class of functions for analyzing serial kinematic chain manipulators. Includes functions for 6-DOF forward kinematics, Denavit-Hartenberg (DH) Matrix generation, cubic polynomial trajectory generation, homogeneous transformation matrix generation, and planar arm kinematics.

ROS/pose_plotter.py

Creates listener node for live-plotting x, y, and yaw of robot using matplotlib.

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Robotics design and analysis tools.

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