NDOFtest(alpha,a,d,​theta,rob,m,varargi​n)

Kinematic and dynamic modelling of n-DoF serial manipulators

In this paper, development and evaluation of a symbolic modelling tool for the kinematic and dynamic equations of serial manipulators with revolute and prismatic joints are presented. The tool allows a quick access to the full kinematics and dynamics equations of the manipulators. The user only requires to provide the DH parameters for
obtaining the kinematic model and the center of the gravity, mass parameters and momentum of inertia matrices of the links to be able to obtain the dynamic model. The tool is shared for public access and it is aimed to benefit researchers or graduate students in the area of robotics.
If using this tool, please cite the below paper
Parham M. Kebria, Hamid Abdi, and Saeid Nahavandi, "Development and Evaluation of a Symbolic Modelling Tool for Serial Manipulators with any Number of Degrees of Freedom", 2016 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2016).