RobotiCad is a user-friendly Matlab© /Simulink graphical interface for the modeling and simulation of serial manipulators. Starting from Denavit-Hartenberg parameters, it is possible to create the kinematic and dynamic models of any serial mechanical structure, together with its 3D graphical model. When a robot is created, it can be exported in a dedicated file which can be loaded in a Simulink scheme that can be easily interfaced with other block-sets. A robot, then, can be simulated and, eventually, an AVI file of the simulation can be created. Moreover, a rich collection of Matlab functions properly developed in order to study industrial robots is included in RobotiCad, e.g. functions for trajectory generation, manipulability analysis, control, and so on.
Riccardo Falconi, Claudio Melchiorri, Luigi Biagiotti, Alessandro Macchelli (2006). RobotiCad: A Matlab© toolbox for robot manipulators [10.3182/20060906-3-IT-2910.00073].
RobotiCad: A Matlab© toolbox for robot manipulators
FALCONI, RICCARDO;MELCHIORRI, CLAUDIO;MACCHELLI, ALESSANDRO
2006
Abstract
RobotiCad is a user-friendly Matlab© /Simulink graphical interface for the modeling and simulation of serial manipulators. Starting from Denavit-Hartenberg parameters, it is possible to create the kinematic and dynamic models of any serial mechanical structure, together with its 3D graphical model. When a robot is created, it can be exported in a dedicated file which can be loaded in a Simulink scheme that can be easily interfaced with other block-sets. A robot, then, can be simulated and, eventually, an AVI file of the simulation can be created. Moreover, a rich collection of Matlab functions properly developed in order to study industrial robots is included in RobotiCad, e.g. functions for trajectory generation, manipulability analysis, control, and so on.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
