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Robotica: A Mathematica Package for Robot Analysis

J. Nethery
M. Spong
Journal / Anthology

IEEE Robotics & Automation Magazine
Year: 1994
Volume: 1
Issue: 1
Page range: 13-20

Robotica is a computer aided design package for robotic manipulators developed in the Coordinated Science Laboratory at the University of Illinois at Urbana-Champaign. It encapsulates over 30 functions into a Mathematica package allowing efficient symbolic and numeric calculation of kinematic and dynamic equations for multi-degree-of-freedom manipulators. An X-Windows front end that utilizes the interprocess communication features of Mathematica 2.1 has also been created for ease of use. This paper describes the most important features of the package and how they are used.

*Engineering > Control Theory
*Engineering > Mechanical and Structural Engineering