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1 International Journal of Applied Mechanics and Engineering

1 2011

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The robot toolbox for matlab

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Pająk G. , Pająk I.

tom 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.