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 

• SCILAB i s a free (under the GNU licensing agreement) general purpose numerical analysis and visualization software system developed at INRIA in France.
  • Robotics toolbox for SCILAB, SCILAB robotics toolbox. You are advised to visit http://rtss.sourceforge.net/ to understand usage and limitations.
    
• MATLAB is a general purpose numerical analysis and visualization tool. It is available in the MAE CAD lab and university computer labs. 
  • Robotics Toolbox for Matlab by Peter Corke. More information is available
  at Peter Corke.
  • Quick Introduction to Robotics Toolbox
  • Symbolic Robotics Toolbox under Matlab, an extension of the Robotics Toolbox by Corke, robsymbolic.zip
  • Matlab Files for Forward Kinematics (a small set of files)
    • Instructions
    • Homogenous Transformation using modified DH parameters
    • Forward Kinematics using modified DH parameters
    • Forward Kinematics using Symbolic Toolbox of Matlab mfkinesym.zip

• 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

• Recursive Inverse Kinematics Document by Paul, Shimano, Mayer PUMA example 
• Differential Kinematics and Jacobian Document by Paul, Shimano, Mayer PUMA example 
• Kane’s approach for deriving dynamic equations The use of Kane’s Dynamical Equations in Robotics (The International Journal of Robotics Research, Vol. 2, No. 3, Fall 1983) 
• Robotic Calibration: Accuracy, Repeatability and Calibration (Proceedings of the 8th Mediterranean Conference on Control & Automation (MED 2000), Rio, Patras, GREECE, 17-19 July 2000) 
• Accuracy and Repeatability: Accuracy Repeatability and Degree of Influence of Kinematic Parameters for Industrial Robots (International Journal of Modelling and Simulation, Vol. 22, No. 3, 2002) 
• Optimum Robot Design using DE: Optimum Robot Design Based on Task Specifications Using Evolutionary Techniques and Kinematic, Dynamic, and Structural Constraints (published in International Journal of Inverse Problems in Engineering, 2002, Vol. 10, No. 4, pp. 359-375) 
• Computed Torque Handout (from F. L. Lewis web page) There are four files on computed torque control and PID contol approach (file 1, file 2,file 3, file 4).