Simple Forward Kinematics library for robotic chains

Version 1.2.0.0 (6 KB) by Bassam Jalgha
Heavily commented functions to plot robotic arms and compute forward kinematics.
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Updated 18 May 2011

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This submission consists of simple and straight forward functions that plots robotic arm configurations and computes forward kinematics transformation matrices. The user has to simply specify the DH parameter matrix (the standard defined in craig's Introduction to Robotics book)
The file contains 5 functions and 1 example.

Feel free to modify add and improve on the code.

Cite As

Bassam Jalgha (2026). Simple Forward Kinematics library for robotic chains (https://uk.mathworks.com/matlabcentral/fileexchange/31170-simple-forward-kinematics-library-for-robotic-chains), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2009a
Compatible with any release
Platform Compatibility
Windows macOS Linux
Categories
Find more on Robotics System Toolbox in Help Center and MATLAB Answers
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Acknowledgements

Inspired: Dynamics Simulator for Kinematic Chains

Version Published Release Notes
1.2.0.0

bug fix
1.1.0.0

Fixed a few bugs
1.0.0.0