Robotics Toolbox

Robotics 1 and 2 - Sapienza (AIRO) 2022/2023

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Table of content

1. Introduction
2. Requirements
3. Try it out
4. Contributiing
5. License
6. Credits

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Introduction

This repo is a collection of useful tools for the courses of Robotics 1 and Robotics 2 at DIAG (Sapinza). The /scripts folder contains matlab programs made to solve kinematics an dynamics problems in the contex of fixed based robots. A tipical application would be to use the tools to compute the dinamic model of a N joint spatial manipulator, given a basic parametrization of the robot (DH parameters).

Requirements

Unfortunatly to try out this project it is required to have a updated version of MATLB. MATLAB it it is not an open source free software so you need to pay fo it, this unless you have a free account provided by you organization. If you are a Sapienza student you can obtain MATLAB here. To run the scripts smoothly it is also suggested to download MATLAB 2023b and to install the additional tools for robotics.

Try it out

Clone this repo on your local machine and run MATLAB with the appropriate script start-matlab.sh:

git clone https://github.com/leeoos/airo-robotics-toolbox.git
bash start-matlab.sh

Then run in MATLAB the appropriate script for your problem. Note that the scripts are organized in subdirectories and categorized by arguments.

Contributing

If you would like to contribute to this repository just submit a pull request as follow:

1. Fork this repository: Click on the "Fork" button on the top right corner of the repository page. This will create a copy of the repository in your own GitHub account.
2. Clone the forked repository to your local machine: Use the git clone command to clone the repository to your local machine.
3. Create a new branch: Use the git checkout -b command to create a new branch for your changes. It's good practice to name the branch something descriptive of the changes you'll be making.
4. Make your changes: Make the changes you want to make to the repository.
5. Commit your changes: Use the git add and git commit commands to commit your changes to the new branch.
6. Push your changes to your forked repository: Use the git push command to push your changes to your forked repository.
7. Create a pull request: Go to this repository, and click on the "New pull request" button. Select the branch you created in step 3 as the compare branch, and the original repository's main branch as the base branch.
8. Submit the pull request: Provide a brief description of the changes you made, and submit the pull request.

License

This project is licensed under the GPL-3.0 License. Feel free to use and modify the code according to your needs.

Credits

We want to thank our classmates and all the other fellow students who contributed to the realization of this project:

• Massimo Romano
• Francesco Nocera
• Paolo Renzi