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Robotics Toolbox

A toolbox for the simulation of robotic manipulators
(7012 downloads for this version - 52655 downloads for all versions)
A more recent valid version with binaries for Scilab 6.1 exists: 2.0.3
Davide Cappucci and Corrado Guarino Lo Bianco
Owner Organization
University of Parma
Corrado Guarino Lo Bianco
Creation Date
January 18, 2021
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)
[2.18 MB]
Linux 64-bit binary for Scilab 6.1.x

[546.85 kB]
Source code archive

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

News (1)
Comments (5)     Leave a comment 
Comment from hessel jonker -- January 22, 2021, 11:03:10 AM    

Where can I find documantation as stated in de description?

Kind regards,

Comment from Corrado Guarino Lo Bianco -- January 22, 2021, 11:20:02 AM    
Hi Hessel,
the Robotics Toolbox comes with its help documentation. Open the help window, and look
among the installed toolboxes (it should be the last one). Each function is documented.

Best regards,
Comment from Steeve Mbakop -- September 17, 2021, 03:25:41 AM    
Good morning, gentlemen. 

Thank you for this toolbox.

Please, gentlemen, can you give us more information about the documentation of the 
function ''rne'' for the calculation of the inverse dynamics? 

Indeed, it is not indicated the reference position from which the torque is calculated.

Moreover, for the definition of the inertia and the position of the centers of gravity 
of each Link of the robot, it is not indicated if the calculation is done in the local 
reference frame of the associated link (base of the DH model) or the global reference 
frame R0

Finally, I would like to ask you, dear gentlemen, to give a little more clarification on 
the implementation of the payload. When generating a trajectory, or the inverse dynamic 
calculation, should we indicate its pose in the final joint configuration, in the 
initial joint configuration, or in intermediate joint configuration.

With best regards.

Answer from Corrado Guarino Lo Bianco -- September 17, 2021, 08:46:01 AM    
Hi Steeve,
rne stands Recursive Newton Euler. The function implements the standard rne algorithm that
can be found in almost all robotics text books. If you use the modified Denavit-Hartenberg
convention a reference book can be "Introduction to Robotics" written by
J.J.Craig, otherwise if you use the standard Denavit-Hartenberg approach please refer to
"Robotics, Modelling, Planning and Control" written by B.Siciliano et al. Those
books are the best references for such function. 

Coming to your questions: rne evaluates the joint torques (consequently they are described
w.r.t. the joint axes and are scalar quantities, one for each axis) starting from the
knowledge of the joint positions, velocities, accelerations, external forces applied to the
tool frame, and friction.

Centers of gravity (cog) are described w.r.t. the corresponding link frame, while the
inertia tensors are described w.r.t. a frame located in the link cog and oriented as the
link frame. Consequently, cogs and inertia tensors are constant.

External forces are supposed to be applied to the tool frame and are supposed to be
described w.r.t. the tool frame itself. If the robot position changes, the description of
the external force (or torque) w.r.t. the tool frame must be changed accordingly.

Best regards,
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