Simple and straight-forward implementation of DH-parameters in MATLAB
This can be used to execute forward kinematics of the robot to find position and orientation of every link of the robot.

Features:

• Forward kinematics
• Homogenous transformation of each link of the robot
• Numerical jacobian
• Simple visualization, it can also be animated
• Inverse kinematics with the pseudo-inverse method.

How to use:

• Create the robot structure with serial_arm_init.
• Actuate the joint with serial_arm_set_joint_pos or with serial_arm_set_all_joint_pos functions.
• Update robot internal structures with serial_arm_update
• If necessary, plot the robot with serial_arm_plot

Auralius Manurung [email protected]