Robotics toolbox for kinematic analysis and design of hybrid multibody systems

摘要

The forward and inverse kinematic analysis of the hybrid systems that using serial and parallel robots together such as legged robots and service robots, is a rather difficult and complex problem and a topic of great interest for researchers. There are so many toolboxes that analyze serial and parallel robots separately. With this toolbox, serial, parallel and hybrid robotic systems used together can be analyzed wholly. In this toolbox, forward and inverse kinematics, Jacobian matrix, trajectory planning, workspace, dexterity and singularities can be examined. Users can create their own robotic systems easily. It is useful for researchers, students and educators, because of its easily applicable form. It provides to users improve the understanding of multi-body hybrid robotic systems fundamentals through interactive simulation. The other toolboxes allow to user analyze the predefined robots at their libraries. In some of them, the user can define a new robot, however, the user must have a prior knowledge and it is a very time consuming process. Using this toolbox, this problem has been overcome and it has become very easy to define new robots. What makes this toolbox unique is to analyze any robot structure using MATLAB.