Jump to ContentJump to Main Navigation
Show Summary Details
More options …

International Journal of Applied Mechanics and Engineering

The Journal of University of Zielona Góra

Editor-in-Chief: Walicki, Edward

4 Issues per year

CiteScore 2016: 0.12

SCImago Journal Rank (SJR) 2016: 0.127
Source Normalized Impact per Paper (SNIP) 2016: 0.063

Open Access
See all formats and pricing
More options …

The Matlab Toolbox for Modeling Complex Mechanisms

I. Pająk
  • University of Zielona Góra Institute of Computer Science and Production Management Licealna 9, 65-417 Zielona Góra, POLAND
  • Email
  • Other articles by this author:
  • De Gruyter OnlineGoogle Scholar
Published Online: 2014-08-30 | DOI: https://doi.org/10.2478/ijame-2014-0019


In the paper, a new version of the Matlab toolbox for modeling and simulation of any mechanisms consisting of open kinematic chains is presented. This tool renders it possible to define any manipulator described by Denavit-Hartenberg parameters and then connect the mechanisms created in this way into one complex mechanism. The package can be used for a realistic visualization of robot motion necessary in research, didactic process or during design of a production cell. Available functions render it possible to show a realistic model of a mechanism based on both default and user defined appearance. The toolbox also provides a set of tools for performing simultaneous simulations of many robots and other objects in their workspace. An example illustrating new features of the toolbox, presenting modeling and motion simulating of human upper limb is also attached.

Keywords : robot toolbox; robot modeling; simulation; Matlab


  • ABB (2011): RobotStudio: of offline robot programming for ABB robots. - http://www.abb.com.Google Scholar

  • Bingul Z., Koseeyaporn P. and Cook G.E. (2002): Windowsbased robot simulation tools. - 7th International Conference on Control, Automation, Robotics and Vision, Singapore.Google Scholar

  • Bruyninckx H. (2001): Open robot control software: the OROCOS project. - IEEE International Conference on Robotics and Automation (ICRA), pp.2523-2528.Google Scholar

  • Corke P.I. (1996): A robotics toolbox for MATLAB. - IEEE Robotics and Automation Magazine, vol.3, No.1, pp.24-32.Google Scholar

  • Craig J.J. (1989): Introduction to Robotics. - Cambridge, Massachusetts: Addison Wesley.Google Scholar

  • Fanuc (2011): ROBOGUIDE: a family of offline robot simulation software. - http://www.fanucrobotics.com.Google Scholar

  • Fu K.S., Gonzalez R.C. and Lee C.S.G. (1987): Robotics. Control, Sensing, Vision and Intelligence. - New York: McGraw-Hill.Google Scholar

  • Gourdeau R. (1997): Object oriented programming for robotic manipulators simulation. - IEEE Robotics and Automation Magazine, vol.4, No.3.Google Scholar

  • Li K., Chen I., Yeo S.H. and Lim Ch.K. (2011): Development of finger-motion capturing device based on optical linear encoder. - Journal of Rehabilitation Research & Development, vol.48, No.1, pp.69-82.Web of ScienceGoogle Scholar

  • Kucuk S. and Bingul Z. (2010): An off-line robot simulation toolbox. - Computer Application in Engineering Education, 18, pp.41-52, DOI 10.1002/cae.20236.CrossrefGoogle Scholar

  • Legnani G. (2006): SPACELIB: a software library for the Kinematic and dynamic analysis of systems of rigid bodies. - U. di Brescia. http://www.ing.unibs.it/~glegnani/ López-Nicolás G., Romeo A. and Guerrero J.J. (2009): Project Based Learning of Robot Control and Programming. - ICEE & ICEER, pp.1-8.Google Scholar

  • MathWorks, Inc. (2010): Matlab Programming Fundamentals. - Natick, Massachusetts.Google Scholar

  • Pająk G. and Pająk I. (2011): The robot toolbox for Matlab. - Journal of Applied Mechanics and Engineering, vol.16, No.3, pp.809-820Google Scholar

  • Paul R.P. (1981): Robot Manipulators: Mathematics, Programming and Control. - Cambridge, Massachusetts: MIT Press.Google Scholar

About the article

Received: 2013-10-21

Revised: 2013-12-12

Published Online: 2014-08-30

Published in Print: 2014-05-01

Citation Information: International Journal of Applied Mechanics and Engineering, Volume 19, Issue 2, Pages 285–301, ISSN (Online) 1734-4492, DOI: https://doi.org/10.2478/ijame-2014-0019.

Export Citation

© 2014. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

Comments (0)

Please log in or register to comment.
Log in