This set of tools models uncertainty in joint angles and link length for a kinematic chain. All tools are written in MATLAB.

This file produces a cloud of exact possible endpoints for a kinematic chain given configuration and uncertainty.

This file produces a cloud of approximate possible endpoints for a kinematic chain given configuration and uncertainty.

Generally computes the endpoints of a kinematic chain, given the local link definitions, joint angles, and joint axes.

Using some information from robot_arm_endpoints, this function computes the jacobian of the specified link, or the instantaneous change in position given changes in joint angle.

Given arm information and a cloud of endpoints, this function plots the arm, joint axes, and endpoint cloud in 3d space.

Given the distributions of the joint angles and link lengths in a single matrix, this function produces histograms of the distributions to verify the normal assumption.