## Roll-pitch-yaw angles

Updated 4 August 2018 There is a lot of confusion around the terms Euler angles and roll-pitch-yaw angles. This stems from quite different, seemingly authoritative, definitions in textbooks and papers.  There is no clear right and wrong here, authors are

## A quick introduction to MATLAB objects

This article is a quick introduction to MATLAB objects, using an example from the Robotics Toolbox for MATLAB. It was originally Appendix C in the first edition of my book, but deleted from the second edition for space reasons.

## What’s in a MATLAB .mltbx file

Since 2015 MATLAB has supported the ability to distribute a Toolbox with all the files, documentation and settings packaged up in a single file with extension .mltbx.  Installation is now super easy, double click the file from the builtin file browser, or

The IROS2010 paper “Efficient Sparse Pose Adjustment for 2D Mapping” by Kurt Konolige, Giorgio Grisetti, Rainer Kümmerle, Wolfram Burgard, Benson Limketkai, and Regis Vincent was published with a link to a website that contained a number of great datasets and reference results.

## Precision-recall curves

Precision recall curves are commonly used in robotics to describe the performance of localisers and classifiers.  This short article describes the underlying principles using simple examples.

## A simple and systematic approach to assigning Denavit-Hartenberg parameters

or how to simply/quickly figure out the DH parameters of a serial-link manipulator.   This short paper appeared in TRO vol 23, pp 590-594, June 2007.   This paper presents a simple and intuitive approach to determining the kinematic parameters of

## Descarte’s bones

Rene Descartes triggered a revolution in thinking, Cartesianism, and attracted many followers and he became a personage. His thinking was vigorously opposed by the Church. And Louis XIV in 1671 forbade the teaching of Cartesianism at the U of Paris.

## Denavit-Hartenberg notation for common robots

Denavit-Hartenberg parameters are one of the most confusing topics for those new to the study of robotic arms. This note discusses some common robot configurations and the physical meaning of their various Denavit-Hartenberg parameters. Consistent diagrams and tables of Denavit-Hartenberg

## 4 is harder than 6: Inverse kinematics for underactuated robots

Many low-cost hobby class robots have only 4 joints (degrees of freedom). This document describes how to determine inverse kinematics for such a robot using the Robotics Toolbox for MATLAB. Underactuation complicates the process of finding an inverse kinematic solution,

## Interfacing a hobby robot arm to MATLAB

This document describes how to connect a real and relatively inexpensive hobby-class robot, the PhantomX Pincher AX-12 robot from Trossen Robotics, to the Robotics Toolbox for MATLAB.