可重用MATLAB机器人功能的集合，可以编译为DLL并使用LabVIEW调用（高分毕设）.zip

# my-matlab-robotics-toolbox A simple and straightforward implementation of the DH-parameters in MATLAB There are two different conventions on the implementation of the DH-parameters. This one uses the standard DH-parameters which can as well be found in this book: https://www.cs.duke.edu/brd/Teaching/Bio/asmb/current/Papers/chap3-forward-kinematics.pdf. The results have been validated with Peter Corke's RVC toolbox (https://github.com/petercorke/robotics-toolbox-matlab). **cgr** prefix means the code is code-generation ready. **ncgr** means the code is **NOT** code-generation ready. Features: * Forward kinematics * Homogenous transformation of each link of the robot * Numerical Jacobian * Simple visualization, it can also be animated * Inverse kinematics with the pseudo-inverse method and damped least square method. * Code generation ready. How to use: * Create a global variable N_DOFS and define the number of degree-of-freedom of the robot in it. The reason why global variable is used is because I keep having problems in using the dynamic memory allocation for MATLAB coder. Therefore, I use global variable to define the dimension of the necessary static arrays. * Create the robot structure with **cgr_create**. * Actuate and update the joint with **cgr_self_update** functions. * If necessary, plot the robot with **ncgr_plot** by first calling **ncgr_graphic** once at the beginning of the program. * To create the compiled MEX or DLL files, two examples of MATLAB Coder project files are provided. This is where the global variable is used. ![Screenshot][sshot] [sshot]: https://raw.githubusercontent.com/auralius/my-matlab-robotics-toolbox/master/sshot.png "Screenshot" ![Screenshot][sshot2] [sshot2]: https://raw.githubusercontent.com/auralius/my-matlab-robotics-toolbox/master/sshot2.png "Screenshot2" Auralius Manurung manurunga@yandex.com