The Compliant Joint Toolbox for MATLAB: An Introduction with Examples

Joern Malzahn; Wesley Roozing; Nikolaos Tsagarakis

doi:10.1109/MRA.2019.2896360

The Compliant Joint Toolbox for MATLAB: An Introduction with Examples

Joern Malzahn, Wesley Roozing, Nikolaos Tsagarakis

Research output: Contribution to journal › Article › Academic › peer-review

6 Citations (Scopus)

102 Downloads (Pure)

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 language	English
Article number	8684261
Pages (from-to)	52-63
Number of pages	12
Journal	IEEE Robotics and Automation Magazine
Volume	26
Issue number	3
Early online date	9 Apr 2019
DOIs	https://doi.org/10.1109/MRA.2019.2896360
Publication status	Published - 1 Sept 2019

Keywords

22/4 OA procedure

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10.1109/MRA.2019.2896360

ArticleFinal published version, 3.34 MBLicence: Taverne

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

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Keywords

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