Mathematica Software for Screw Calculus
Two Mathematica packages have been written which implement many of the calculations
described in MLS. These packages are available free of charge via anonymous ftp from
avalon.caltech.edu or using the links below. This software is unsupported.
Tar files:
- Screw package:
contains source code, documentation, and examples for Screws.m and RobotLinks.m (tar file,
128K).
- Examples: Mma source
code for most of the examples in the book (tar file, 48K).
Mathematica software (source code):
- Screws.m: A package for basic screw calculus in R^3.
- RobotLinks.m: Calculate kinematic functions for robots
(using Screws.m).
- Jac.m: simple function for computing Jacobian matrices for
nonlinear maps.
- SCARA: Forward kinematics for a 4 DOF SCARA manipulator
(requires Screws.m)
- Elbow: Forward kinematics for a 6 DOF Elbow manipulator
(requires Screws.m)
- More examples: Individual examples from the book
Documentation:
- Brief overview on the use of these packages
(PDF, 4 pages).
- Reference manual: postscript (10 pages) or HTML (not yet
available).
Richard Murray (murray@cds.caltech.edu)
Last modified: 05/15/99