Advanced Robot Manipulator Simulator

version 4.0 (453 KB) by Ehsan Khadem Olama
Multi-DOF robot manipulator designer and simulator


Updated 11 Sep 2015

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model the kinematics and dynamics of robot manipulators. A complete description of the procedure to model and control a Multi-DOF 3D robot manipulator is detailed and simulated using designed toolbox in MATLAB. Examples of path planning, symbolic dynamic derivation and control strategy designs are presented. Advanced path planning by constrained optimization has been developed and verified by this toolbox. One of the advanced position controllers for robot manipulators is the Sliding Mode Control with desired gravity and friction compensation which has been applied and verified in the toolbox. Force contacts and collisions are modeled in nonlinear near real situations. This helps designing more robust force controlled systems.

Cite As

Ehsan Khadem Olama (2022). Advanced Robot Manipulator Simulator (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2014b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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