My technical notes, papers, books and a few historical documents are free to download from docs.petercorke.com, with a preview and short description of each.
- Articles and notes: Denavit-Hartenberg notation for common robots, the ETS manipulator Jacobian, inverse kinematics for 4-joint robots, URDF and XML with MATLAB, precision-recall curves, solving trigonometric equations, and more.
- Books and book resources: Visual Control of Robots (the “Blue Book”), and the solutions manual, live scripts and figures for Robotics, Vision & Control, 2nd edition.
- Papers and technical reports: including the ICRA 2021 paper on the Robotics Toolbox for Python and the CSIRO report on the Unimation Puma servo system.
- Historical documents: classic robotics reports that are hard to find elsewhere, such as Richard Paul’s 1972 Stanford report AIM-177.
Toolboxes
Toolbox releases are on GitHub:
- Python: Robotics Toolbox, Machine Vision Toolbox, Spatial Maths. Install any of them with
pip. - MATLAB: Robotics Toolbox (manual), Spatial Math Toolbox (manual).
- MATLAB toolboxes for Robotics, Vision & Control, 2nd edition: Machine Vision Toolbox 4.3 and the book’s images, and older Robotics Toolbox releases (10.3.1, 9.10).
The sources for the documents are in the petercorke/writings repository on GitHub.