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README

ARTE is a Matlab toolbox focussed on robotic manipulators, both serial and parallel mechanisms are included.

The main features of ARTE are:

• Simulate any industrial robot within a Matlab environment.
• Represent a visualize the Denavit-Hartenberg's system on the robot.
• 3D graphics of a great number of industrial robots are available.
• You can plot and observe the position, velocity and acceleration of the joint coordinates of the robot when a movement is performed.
• Also, the torques and forces at each joint can be plotted.
• A GUI teaching pendant is available to move and program the robots.
• The robots can be programmed and simulated ABB RAPID language. A step by step simulation of the programs can be carried out within the Matlab's editor and debugger.
• A Matlab to RAPID interpreter is included that allows to program the real robot using your Matlab code.
• New robot models can be easily included.
• Practical exercises are provided.

Created by Arturo Gil: arturo.gil@umh.es. Miguel Hernández University, Spain.

ARTE is distributed under LGPL license.

• More information in: http://arvc.umh.es/arte

INSTALL copy the directory containing all the .m files to a directory named arte3.3.X. To initialize the library, inside Matlab you should be placed in the directory where the library is installed:

#!matlab

>> pwd
ans =
/Users/arturo/Desktop/arte3.2.X

Next, in the Matlab command prompt type:

#!matlab

>> init_lib

To view all functions and demos type:

#!matlab

>>help Contents

If you want to have a fast view of the main capabilities of the library, type:

#!matlab

>> demos

YOUTUBE CHANNEL http://www.youtube.com/playlist?list=PLClKgnzRFYe72qDYmj5CRpR9ICNnQehup

ITUNES CHANNEL https://itunes.apple.com/es/itunes-u/robotica-umh1770-curso-2013/id681094508?mt=10

PRACTICAL EXERCISES WITH THE LIBRARY http://arvc.umh.es/arte/index_en.html#practicals

LIST OF ROBOTS SUPPORTED BY THE LIBRARY http://arvc.umh.es/arte/supported_robots.htmle/supported_robots.html}