UT Arlington Mechanical and Aerospace Engineering

ME 5337 Introduction to Robotics
Resources and Reference Material

Software for Robotic Analysis Note that there is a plethora of software available for robotic analysis in kinematics, inverse kinematics, dynamics, control and design. This list is a very short list compiled as it relates to software that is available either for free (unde the GNU licensing) or for commercial software available in the MAE CAD lab or inexpensively at UTA.

Papers describing robotics concepts are available in this page. These papers will be used during the semester.

Software for Robotic Analysis

  • Mathematica is a computer algebra system that could be used to perform both numerical and symbolic computations. It is useful in evaluating closed form expressions for manipulators.
    You could find robotics related information through a web search using appropriate keywords (mathematica and robotics). Let me know what you find and I will post it if appropriate
    • A Mathematica file that will evaluate in symbolic form - closed form the individual homogeneous transformation and the homogeneous transformation with respect to the base frame for a serial link robotic maipulator is available for you. You must make sure you understand how to setup the modified Denavit-Hartneberg parameter table as taught in class by Dr. Shiakolas, Forward Kinematics file for Serial Link Robots in Mathematica.

  • National Instruments LabVIEW Robotics is a LabVIEW module designed for robotic analysis. If anyone is interested to experiment with this module, please let me know.

  • Maple is a computer algebra system that could be used to perform both numerical and symbolic computations. It is useful in evaluating closed form expressions for manipulators.
    You could find robotics related information through a web search using appropriate keywords (maple and robotics). Let me know what you find and I will post it if appropriate.
    MapleSim is a Maple add-on for multi-domain system modeling, simulation and analysis. It provides resources to develop pictorial representation of electromechanical systems using icons and then simulate the system and in addition obtain the dynamic equations in Maple format for further analysis.
    Forward Kinematics Worksheet in Maple R12: Evaluation of Forward Kinematics of any serial link manipulator in symbolic form.

  • Robotic Analysis Using Object Oriented Techniques robotoop.zip

  • Simulation of Non-Linear Systems (MATLAB Template) nonlinear.m

Papers on Robotics

 

Last Updated October 10, 2014
© Copyright 2002-2014 uMARS Lab & P.S. Shiakolas. All Rights Reserved

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Mechanical & Aerospace Engineering Department
College of Engineering
UT Arlington