Mec.E. 555 Software Supplement
The following MATLAB script files are available on the department network. If you login from the 3rd floor lab,
these files can be found at /usr/local/mece_courses/555. Alternatively,
you can click on the highlighted names below and view the files in your browser and save them to disk if you
desire.
Utilities
These are supplied without warranty. There may be bugs in these programs - buyer
beware! I would appreciate reports of any bugs found
(Email to roger.toogood@ualberta.ca )
- objdef.m
- user definition of object vertex and edge arrays
- objlib.m
- library of object arrays
- objplot.m
- wireframe view of 3D objects
- uinew.m
- interactive user control of view direction (This is a new version of the
script file ui.m distributed with the Robotics Toolbox by Peter Corke that contains a couple of bugs).
Symbolic Robotics Toolbox
robsym.zip This 11K zip file contains all the MATLAB script files for performing symbolic operations utilized in the forward kinematic solution. This includes:
- creating A matrices
- forward kinematics
- inverse kinematics
- manipulator Jacobian
- calculating values of transforms and kinematic parameters
For complete documentation, see Symbolic Robotics Toolbox Documentation