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# Questions tagged [robotics-toolbox]

The Robotics Toolbox for MATLAB is open-source software developed by Peter Corke. It is distinct from the Robotic System Toolbox (tag: robotics-system-toolbox) which is developed and maintained by the MathWorks.

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### Designing the kinematics and Dynamics of a spherical joint as 3 revolute Joint

I am working on a project where I am trying to mimic human like motion and for that I am designing a 7 DOF arm with the spherical joint in shoulder as 3R joints and 2R joints for elbow and 2R joint ...
2 votes
1 answer
53 views

### How can I model a monorail robot in Webots by importing a Solidwork CAD model of robot?

I am new to Webots. I have not good idea about the considerations what should I consider when import a SolidWork CAD model to the Webots. I have a SolidWork model of robot. But I have not good idea to ...
1 vote
1 answer
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### What could be the unit ( dimension) of the vectors spanning the Jacobian matrix?

Let the general forward rate kinematics equation for a serial mechanism be given as follows:  \begin{bmatrix} \boldsymbol{v} \\ \boldsymbol{\omega} \end{bmatrix} = \begin{bmatrix} \boldsymbol{J}...
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### How to rotate a handle shown in the below picture using raspberry pi

Need ideas in the direction for to rotate below circled handle to be rotated robotically using raspberry pi etc
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### Peter Corke Robotics Matlab Toolbox the problem of inverse dynamics in the Franka Emika Panda model

I have the following question about the Franka Emika Panda dynamic model. In case I perform the solution of the inverse dynamics problem using Robotics Toolbox (Peter Corke) I get different results ...
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2 answers
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### Inverse kinematics for redundant robot

I'm currently doing some in-depth analysis based on this article. Starting from a general inverse kinematics solution, the article gives an appropriate formula to compute a solution that takes into ...
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### How useful is DRAKE toolbox

How useful would it be to learn and interact with DRAKE toolbox that is open source? Are there better toolboxes out there when compared with the DRAKE toolbox? I am a student interested in robotics ...
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1 vote
1 answer
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### Peter Corke Robotics Matlab Toolbox Jacobian in Simulink

I am working on getting the Peter Corke Robotics Toolbox for Matlab connected to a Panda robot via Simulink. The problem I am encountering is the fact that the variables created by the Peter Corke ...
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### Peter Corke Robotics Matlab toolbox Panda DH/MDH conventions confusion

I am new to this toolbox and DH parameters in general but I noticed that the Peter Corke Robotics Toolbox for Matlab originally contains a model of the Franka Emika Panda robot. This model was made ...
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### Data gathering and selling [closed]

a friend of mine is building various Robots with different structures, sensors, limbs executing different tasks. He gathers data from all sensors etc regarding technical and scientific range of ...
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### Retrieving Denavit-Hartenberg-Parameters from homogenous transformation-matrix

i am trying to implement a matlab script where the user can enter quaternions and retrieve the corresponding denavit hartenberg parameters for this link. My approach is to create the homogenous ...
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### Robotic Tasks in relation with components

I will try to ask the best i can: Our Human Body has parts like arms, legs, head etc. An arm can rotate 360 degrees. Arm has a hand with five fingers which can grip, poke, push etc. How would we ...
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### Inverse Kinematics for a 4-DoF Leg

I am beginner in the robotics space and I am trying to apply inverse kinematics to robot leg that has 4 degrees of freedom. I do not know how to think about solving these problems, so any guidance ...
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### High derivative gain in PD control

Why does high derivative gain in PD control results in motor noise or chatter? The graph that I see on MATLAB simulation is smooth enough, so following that it should not make noise..
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1 answer
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### TV Umpire replaced by Robot (machine)

https://en.wikipedia.org/wiki/Third_umpire Is it possible using Robotics, Artificial intelligence, Machine learning technologies to replace the TV umpire - Human by a Robot (machine)? i.e. The Robot ...
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1 answer
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### How nanorobots are programmed? [closed]

I was thinking about the possible ways to program nanorobots, it can't be done with the regular tools.So I'm curious to know how professionals program nanobots? Any complementary articles, extra ...
1 vote
1 answer
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### Plotting a Robot in App Designer

I've a robot created with Peter Corke toolbox and I must plot it inside an app (must be in App Designer - Matlab). The problem is that everytime I try to plot it, it makes an independent figure ...
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### I want to Calculate the Joint Velocities and Angular Accelerations of 5 DOF Youbot kuka robotic arm

I'm working on an assignment where I need to derive Velocity Kinematics for 5 DOF Youbot kuka robotic arm manipulator. I want to Calculate the Joint Velocities and Angular Accelerations of 5 DOF ...
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### Resolved Motion Rate Control, Rotational Part

I'm controlling 6 DOF robot arm based on image processing. Robot arm will grab the object. Below what my system looks I can control the translational part of robot very well. But i cant control the ...
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### Robotics Toolbox: Display all DH link frames in Seriallink.plot()

I am using the Robotics Toolbox by Peter Corke to create a plot of a simple four-link robot. For an assignment, I want a figure of the robot with all frames according to the DH-convention. Though even ...
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1 vote
1 answer
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### About official robotics system toolbox Matlab and Peter Corke Robotics toolbox matlab

I came to know that matlab released robotics system toolbox in 2016 version but I'm using Matlab 2014b. At that time I installed Peter Corke Robotics toolbox matlab and start working on it. I develop ...
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2 answers
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### Inverse kinematics showing incorrect results for 4 dof robot in MATLAB using Robotics Toolbox

I'm doing inverse kinematics for 4 dof robot using robotics toolbox matlab. The code is given below: ...
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3 votes
2 answers
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### Does simulink accepts robotics toolbox in matlab?

I'm trying to make a model for a robotic arm on simulink and then excute it on arduino controller but i want also to use robotics toolbox to calculate forward and inverse kinematics so i need to add ...
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4 votes
3 answers
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### Kuka KR16L-2 robot simulation base and wrist rotation inconsistent with original robot

The issue is regarding simulation of Kuka robot KR16L6-2 in MATLAB using Robotics toolkit by Peter Corke. I wish to simulate the kinematic before passing a command to real robot for motion. I have ...
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1 vote
2 answers
10k views

### Denavit Hartenberg parameters - 3DOF articulated manipulator

I am trying to solve a forward kynematics problem for a 3DOF manipulator. I am working with the Robotics Toolbox for MatLab created by Peter Corke and after calculte the DH parameters and introduce ...
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