A ROBOTICS TOOLBOX FOR MATLAB

The Robotics Toolbox is a software package that allows a MATLAB user t o readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functio ns provided, for arbitrary serial-link manipulators, include forward a nd inverse kinematics, Jacobians, and forward and inverse dynamics. Th is article introduces the Toolbox in tutorial form, with examples chos en to demonstrate a range of capabilities. The complete Toolbox and do cumentation is freely available via anonymous ftp.