News
 [20101028] New tutorial available
Hello RTSS users. I'm just informing you that a new tutorial, based on a collection Read More…
 [20090920] Release 1.0.0b1 is out!
Dear RTSS users, it took longer than expected, but a new release of RTSS is finally Read More…
 [20090413] Working environments for RTSS: A summary
Dear RTSS users, in the last months, a lot of things have changed within the Scilab Read More…
Online Documentation, Stable RTSS
 » Scilab Functions

The following is a listbycategory of the Scilab functions provided with the toolbox. Please, click a category name to expand or collapse the list of functions for the category (it requires Javascript enabled to work properly):
 Homogeneous Transforms
 rt_eul2tr  Euler angles to homogeneous transform
 rt_oa2tr  orientation and approach vector to homogeneous transform
 rt_rotvec  rotation about arbitrary axis
 rt_rotx  homogeneous transform for rotation about Xaxis
 rt_roty  homogeneous transform for rotation about Yaxis
 rt_rotz  homogeneous transform for rotation about Zaxis
 rt_rpy2tr  Roll/pitch/yaw angles to homogeneous transform
 rt_tr2eul  homogeneous transform to Euler angles
 rt_tr2rot  homogeneous transform to rotation submatrix
 rt_tr2rpy  homogeneous transform to roll/pitch/yaw angles
 rt_transl  set or extract the translational component of a homogeneous transform
 rt_trnorm  normalize a homogeneous transform
 Quaternions
 disp  displays the quaternion as oneline summary of its coefficients
 double  convert a quaternion object to a 4element vector
 hat  (^) raise quaternion to integer power
 inv  invert a quaternion
 norm  norm of a quaternion
 rt_plot  display a quaternion as a 3D rotation
 rt_q2tr  quaternion to homogeneous transform
 rt_qinterp  interpolate unitquaternions
 rt_quaternion  construct/clone a quaternion object
 rt_unit  unitize a quaternion
 slash  (/) divide quaternion by quaternion or scalar
 star  (*) multiply quaternion by quaternion or vector
 Kinematics
 rt_diff2tr  convert a differential motion vector to a homogeneous transform
 rt_fkine  compute the forward kinematics for a serial nlink manipulator
 rt_ikine  compute the inverse kinematics for a generic serial nlink manipulator
 rt_ikine560  compute the inverse kinematics for a Puma 560 like robot arm
 rt_ikine560paul  compute all solutions for the inverse kinematics of a Puma 560 like robot arm using the Paul's algebraic method
 rt_ikinestanfpaul  compute all solutions for the inverse kinematics of a Stanford like robot arm using the Paul's algebraic method
 rt_jacob0  compute manipulator Jacobian in base coordinate frame
 rt_jacobn  compute manipulator Jacobian in endeffector coordinate frame
 rt_tr2diff  convert a homogeneous transform to a differential motion vector
 rt_tr2jac  compute a Jacobian to map differential motion between frames
 Dynamics
 rt_accel  compute manipulator forward dynamics
 rt_cinertia  compute the Cartesian (operational space) manipulator inertia matrix
 rt_coriolis  compute the manipulator Coriolis/centripetal torque components
 rt_fdyn  integrate the forward dynamics
 rt_friction  compute joint friction torque
 rt_frne  fast rne. C version of algorithm that computes inverse dynamics via recursive NewtonEuler formulation
 rt_ftrans  transform force/moment between coordinate frames
 rt_gravload  compute the manipulator gravity torque components
 rt_inertia  compute the manipulator jointspace inertia matrix
 rt_itorque  compute the manipulator inertia torque component
 rt_rne  compute inverse dynamics via recursive NewtonEuler formulation
 Manipulator Models
 rt_link  construct/clone a link object
 rt_nofriction  remove friction from a robot object
 rt_perturb  randomly modify some dynamic parameters
 rt_puma560  create a Puma 560 robot object
 rt_puma560akb  create a Puma 560 robot object using the Armstrong, Khatib and Burdick kinematic notation
 rt_robot  construct/clone a robot object
 rt_showlink  show link/robot data in detail
 rt_stanford  create a Stanford manipulator robot object
 rt_twolink  load kinematic and dynamic data for a simple 2link RR planar
 star  (*) construct a robot which is the series connection of the multiplicands
 Trajectory Generation
 rt_ctraj  compute a Cartesian trajectory between two points
 rt_jtraj  compute a joint space trajectory between two joint coordinates poses
 rt_trinterp  interpolate homogeneous transforms
 Graphics
 rt_drivebot  drive a graphical robot
 rt_plot  create a graphical animation for a robot object
 Other
 rt_ishomog  test if argument is a homogeneous transformation
 rt_maniplty  compute the scalar manipulability index for the manipulator at the given pose
 rt_unit  unitize a vector
 Homogeneous Transforms
 » Scicos Blocks

A summary of the blocks provided with the Robotics palette is given by the following listbycategory:
 Transform Conversion
 rt_eul2tr_if  Euler angles to homogeneous transform
 rt_rpy2tr_if  Roll/pitch/yaw angles to homogeneous transform
 rt_tr2eul_if  homogeneous transform to Euler angles
 rt_tr2rpy_if  homogeneous transform to roll/pitch/yaw angles
 rt_tr2xyz_if  extract the translational component of a homogeneous transform
 rt_xyz2tr_if  X/Y/Z vector components to homogeneous transform
 Kinematics
 rt_fkine_if  compute the forward kinematics for a serial nlink manipulator
 rt_jacob0_if  compute manipulator Jacobian in base coordinate frame
 rt_jacobn_if  compute manipulator Jacobian in endeffector coordinate frame
 rt_tr2diff_if  convert a homogeneous transform to a differential motion vector
 Dynamics
 rt_accel_if  compute joint acceleration vector
 rt_robot_if  rigidbody dynamic model of a robot
 rt_rne_if  compute inverse dynamics via recursive NewtonEuler formulation
 Trajectory
 rt_jtraj_if  interpolate a joint space trajectory between two joint coordinates poses
 Event Driven Source Signals
 rt_singen_if  sinusoidal generator
 rt_square_if  square wave generator
 Numerical Fixed StepSize Integrators
Note that, except for the "Event Driven Source Signals" and the "Numerical Fixed StepSize Integrators" blocks, generally there is a onetoone correspondence between Scicos blocks and toolbox functions.
 Transform Conversion
Tutorials
 » Modeling Robotic Systems in Scicos

Demos that give the user an insight into the use of RTSS for constructing robot kinematic and dynamic models with Scicos are described in the following tutorial: rtssscicos.pdf.
 » Open Source Robotics with Scilab/Scicos

This is a collection of slides presented at the first HeDiSC Workshop On Open Source Software for Control Systems, which took place in Lugano (Switzerland) at SUPSIDTI, at the end of June 2009. The presentation consists of two parts and it aims to illustrate features and usage of the Robotics Toolbox for Scilab/Scicos.
The first part of the presentation addresses the general problem of rigid motions representation in ℜ³ and also provides detailed examples of how robotic manipulators can be modeled in Scilab. The second part explains how said robot models can be imported in a Scicos diagram and shows complete examples where Scicos blocks from the Robotics palette implement some ClosedLoop Inverse Kinematics (CLIK) algorithms and several centralized control schemes with different design and complexity.
The full presentation, with animations, is packaged for download as a gzipped tar file or as a ZIP file.
 » ScicosLab/Scicos for robotics applications

This is a collection of slides presented at the 3day training course "ScicosLab 2010", which took place in Florence (Italy) at Plesso Didattico (Florence University), at October 1921, 2010. The presentation deals with the modelling, the analysis and the control of industrial manipulators by using ScicosLab/Scicos and RTSS.
The full presentation, with animations, is packaged for download as a gzipped tar file or as a ZIP file.