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Robotics Toolbox

A toolbox for the simulation of robotic manipulators
(620 downloads for this version - 19036 downloads for all versions)
Davide Cappucci and Corrado Guarino Lo Bianco
Owner Organization
University of Parma
Corrado Guarino Lo Bianco
Creation Date
October 7, 2020
Source created on
Scilab 6.1.x
Binaries available on
Scilab 6.1.x:
Linux 64-bit Windows 64-bit
Install command
--> atomsInstall("Robotics_Toolbox")
            The Robotics Toolbox is inspired to the ninth release of the Robotics Toolbox
for Matlab by Peter Corke.
Its goal is to provide a set of functions that allow to create a model of a
robotic arm and to study its behavior and control through simulations. 

The toolbox provides functions for: 
* Create a robotic model according to the Denavit-Hartenberg notation 
* Solve direct and inverse kinematics
* Manage direct and inverse dynamics
* Display a graphical schematic model of a manipulator and animate it
* Xcos blocks for simulating the control of a robotic model
* Geometric transformations
* and more...

Functions are documented and some demos are available.            
Files (3)
[2.20 MB]
Linux 64-bit binary for Scilab 6.1.x

[557.24 kB]
Source code archive

[2.39 MB]
Windows 64-bit binary for Scilab 6.1.x

News (0)
Comments (2)     Leave a comment 
Comment from Juan Escribano -- December 29, 2020, 09:09:45 PM    

'itorque' doesn't seem to work.

Example code

ti = 0;
tf = 5;
t = linspace(ti,tf,20);
qi=[0 0];
qf=[%pi/2 %pi/4];
[q, qd, qdd] = jtraj(qi, qf, t);
tau = rne(twolink, q, qd, qdd);
taui = itorque(twolink,q,qdd); 

WARNING: rne: Frne not found.
at line    49 of function rne_dh  ( C:\Users\jjesc\AppData\Roaming\Scilab\scilab-
6.1.0\atoms\x64\Robotics_Toolbox\2.0.1\macros\rne_dh.sci line 70 )
at line    67 of function rne     ( C:\Users\jjesc\AppData\Roaming\Scilab\scilab-
6.1.0\atoms\x64\Robotics_Toolbox\2.0.1\macros\rne.sci line 88 )
at line    32 of function itorque ( C:\Users\jjesc\AppData\Roaming\Scilab\scilab-
6.1.0\atoms\x64\Robotics_Toolbox\2.0.1\macros\itorque.sci line 53 )

bad data

Old versions like 'rt_itorque' does work.

Could you help me?

Thanks in advance
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