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The Matlab toolbox for modeling complex mechanisms

Pająk I.

International Journal of Applied Mechanics and Engineering

2014

Vol. 19, no. 2

285--301

In the paper, a new version of the Matlab toolbox for modeling and simulation of any mechanisms consisting of open kinematic chains is presented. This tool renders it possible to define any manipulator described by Denavit-Hartenberg parameters and then connect the mechanisms created in this way into one complex mechanism. The package can be used for a realistic visualization of robot motion necessary in research, didactic process or during design of a production cell. Available functions render it possible to show a realistic model of a mechanism based on both default and user defined appearance. The toolbox also provides a set of tools for performing simultaneous simulations of many robots and other objects in their workspace. An example illustrating new features of the toolbox, presenting modeling and motion simulating of human upper limb is also attached.

The robot toolbox for matlab

Pająk G., Pająk I.

International Journal of Applied Mechanics and Engineering

2011

Vol. 16, no 3

809-820

In the paper, a Matlab toolbox for modeling and simulation manipulators described by Denavit-Hartenberg parameters is presented. This package can be used to realistic visualization of robot motion necessary in research, didactic process or during design of a production cell. Available functions render it possible to show a realistic model of a mechanism easily based on DH parameters only. The toolbox also provides a set of tools for creating any polyhedrons and functions to manipulate them in 3D space. Using those objects it is possible to create the appearance of the manipulator and its workspace. Functions implementing classical methods of trajectory planning in configuration space allow calculation of manipulator trajectory which can be shown as an animation. The main functions and computer examples illustrating the features of this toolbox are presented.