MATLAB

1. This folder contains most of the matlab functions during that are reusable and public
2. Note I've also collected user functions from stack/matlab that have been proved useful I've left the header and author information

Generic Functions

robot-functions

A set of convenience functions for robotics, including:

• Functions for spatial transformations, rotation angular velocity conversions and simple geometric relations between lines and planes.
• General transform and jacobian derivations based on DH parameters.
• Simple trajectory generators in configuration and Cartesian space.
• Basic visual servoing interaction matrices.
• A general gradient descent IK for serial robots

utility-functions

• A set of convenience functions for MATLAB

Robot Specific

planar-RRR

• A test folder for different tools with an example 3DOF planar robot
  • Jacobian, Transforms inertia for simple robot
  • Visualizing a danger grid about a planar robot
  • Effective mass modeling for the robot

gough-steward-platform

• A set of function used to model the gough stewart robot with felxible platform.
• Both rigid functions and flexible functions are included (flexibility is modeled using finite element results with the mode shape superposition method)

kuka-lwr

• Kinematic/Geometric functions used to model Kukalwr robot

sawyer

• Kinematic/Geometric functions used to model Rethink's sawyer robot

ur10

• Kinematic/Geometric functions used to model UR10 robot

nao-actuation-schemes

• Kinematic/Geometric functions used to model Nao robot cooperatively manipulating an object