The Compliant Joint Toolbox for MATLAB: An Introduction with Examples

Joern Malzahn, Wesley Roozing, Nikolaos Tsagarakis

Research output: Contribution to journalArticleAcademicpeer-review

Abstract

This article presents the Complianhis Compliant Joint Toolbox for the modeling, simu lation, and controller development of compliant robot actuators. The object-oriented toolbox is written in MATLAB/Simulink. In a few lines of code, it can batch-generate ready-to-use joint actuator model classes from multiple parameter sets, in corporating a variety of nonlinear dynamics effects.

Original languageEnglish
Article number8684261
Pages (from-to)52-63
Number of pages12
JournalIEEE Robotics and Automation Magazine
Volume26
Issue number3
Early online date9 Apr 2019
DOIs
Publication statusPublished - 1 Sep 2019

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MATLAB
Actuators
Robots
Controllers

Cite this

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abstract = "This article presents the Complianhis Compliant Joint Toolbox for the modeling, simu lation, and controller development of compliant robot actuators. The object-oriented toolbox is written in MATLAB/Simulink. In a few lines of code, it can batch-generate ready-to-use joint actuator model classes from multiple parameter sets, in corporating a variety of nonlinear dynamics effects.",
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The Compliant Joint Toolbox for MATLAB : An Introduction with Examples. / Malzahn, Joern; Roozing, Wesley; Tsagarakis, Nikolaos.

In: IEEE Robotics and Automation Magazine, Vol. 26, No. 3, 8684261, 01.09.2019, p. 52-63.

Research output: Contribution to journalArticleAcademicpeer-review

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