# Software

From MLSwiki

This page contains information on software that can be used to perform some of the analysis described in *A Mathematical Introduction to Robotic Manipulation*.

### Mathematica

Two Mathematica packages have been written which implement many of the calculations described in MLS. These packages are available free of charge using the links below. **This software does not work with the latest version of Mathematica.** The software will be updated along with the second edition of the text.

#### Tar files

- screws.tar - contains source code, documentation, and examples for Screws.m and RobotLinks.m (tar file, 128K).
- examples.tar - Mathematica source code for most of the examples in the book (tar file, 48K).

#### Individual files

- Screws.m - A package for basic screw calculus in R^3.
- RobotLinks.m RobotLinks.m - Calculate kinematic functions for robots (using Screws.m).
- Jac.m Jac.m - simple function for computing Jacobian matrices for nonlinear maps.
- SCARA.m SCARA.m - Forward kinematics for a 4 DOF SCARA manipulator (requires Screws.m)
- Elbow.m Elbow.m - 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: PDF (10 pages) or HTML (not yet available).