The code in this directory can be used to simulate and visualize
the high performance maipulator 'Popeye'. All code contains
usage help and should be fairly straightforward.

A sample usage is as follows:

> initialize_robot;     % loads all parameters
> cart_pos = [0.4 0 0.3 0 pi/2 0]; % sets cartesian position of robot
> thetas = inv_kin(cart_pos, 0); % calculates (all 8 sets of) joint angles
> robot_arm(:,4) = thetas(:,1); %sets arm joints to second set
> plot_robot3(robot_arm, pos1,pos2);  % 3d plot of robot

'dynamics' and 'forward_dynamics' can be used to calculate the loads 
on all joints and links in a particular configuration/velocity, or
in a simulator to simulate robot performance.


A simple simulator program will be added to this directory.

For enquiries regarding the code, please contact 
Christian Smith,  ccs@csc.kth.se

All code in this directory is written by Christian Smith, but the
algorithms themselves are mostly conceived by others. If credit is 
not duly given somewhere in this code, it is an honest mistake and
will be corrected upon notification.


Christian Smith, Feb 24 2006