A robotics toolbox for MATLAB

@article{Corke1996ART,
  title={A robotics toolbox for MATLAB},
  author={Peter I. Corke},
  journal={IEEE Robot. Automat. Mag.},
  year={1996},
  volume={3},
  pages={24-32}
}
The Robotics Toolbox is a software package that allows a MATLAB user to readily create and manipulate datatypes fundamental to robotics such as homogeneous transformations, quaternions and trajectories. Functions provided, for arbitrary serial-link manipulators, include forward and inverse kinematics, Jacobians, and forward and inverse dynamics. This article introduces the Toolbox in tutorial form, with examples chosen to demonstrate a range of capabilities. The complete Toolbox and… CONTINUE READING
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Control of robotic systems through singularities

Chieaverini, L. Sciavicco, B. Siciliano
Proc. Int. Workshop on Nonlinear and Adaptive Control: Issues in Robotics. Springer-Verlag, • 1991

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received the B.Eng. and M.Eng.Sc degrees in Electrical Engineering from the University of Melbourne

Peter Corke
1981

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