V0.0.1 Serial Link Robot Basic Architecture

V0.0.1 | MATLAB for Robotics
Serial Link Manipulators

Constructing basic architecture and convention for modeling and programming a serial rigid link robot manipulator. This release currently has primary spatial calculations like rotation, translation, and homogenous transforms. Plus, some plotting functionalities are also available. However, the main features of this paradigm are the Link and SerialLinkManipulator classes. The first describes the kinematic and dynamic characteristics of individual links, while the latter uses the Link objects to construct the serial manipulator. It basically stacks each Link object's features and modifies their properties.

Features

• Modularity in defining and using Link and SerialLinkManipulator objects
• Interchangeable properties and interoperability between objects
• Easy to understand and complete comments
• Spatial calculations, Matrix operations, Kinematics Modeling, and Forward Kinematics

TODO

• Forward kinematics at velocity level
• Inverse Kinematics and Jacobian
• Singularity Analysis
• Dynamic Modeling
• Symbolic Object
• Simulink and Control

Future Items

• Classes for arbitrary serial link robot using only homogenous transforms not dh table
• Multibody simulation using rigidbodytree or simscape
• Coordination between MATLAB and ROS
• Simulation for other robots like mobile robots, self-driving cars, and aerial robots