ROBOTICAD: A MATLAB© TOOLBOX FOR ROBOT MANIPULATORS

RobotiCad is a user—friendly Matlab©/Simulink graphical interface for the modeling and simulation of serial manipulators. Starting from Denavit-Hartenberg parameters, it is possible to create the kinematic and dynamic models of any serial mechanical structure, together with its 3D graphical model. When a robot is created, it can be exported in a dedicated file which can be loaded in a Simulink scheme that can be easily interfaced with other block-sets. A robot, then, can be simulated and, eventually, an AVI file of the simulation can be created. Moreover, a rich collection of Matlab functions properly developed in order to study industrial robots is included in RobotiCad, e.g. functions for trajectory generation, manipulability analysis, control, and so on.