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Robotics Toolbox

A toolbox for the simulation of robotic manipulators
(5681 downloads for this version - 51006 downloads for all versions)
Details
Version
2.0.1
A more recent valid version with binaries for Scilab 6.1 exists: 2.0.3
Author
Davide Cappucci and Corrado Guarino Lo Bianco
Owner Organization
University of Parma
Maintainer
Corrado Guarino Lo Bianco
License
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")
Description
            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 (1)
Comments (2)     Leave a comment 
Comment from Juan Escribano -- December 29, 2020, 09:09:45 PM    
Hi,

'itorque' doesn't seem to work.


Example code



mdl_twolink;
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
Answer from Corrado Guarino Lo Bianco -- January 18, 2021, 01:40:10 PM    
Dear Juan,
thank you for your email. Something has changed between the function calls in Scilab 5.X
and the ones in Scilab 6.X, so that it has been necessary to modify the call to rne.
The problem you indicated has been solved in Release 2.0.2. I have seen that the same
problem could arise for other functions, so that expect a further release in the next few
days.

Best regards,
Corrado 

> Hi,
> 
> 'itorque' doesn't seem to work.
> 
> 
> Example code
> 
> 
> 
> mdl_twolink;
> 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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