Robotics Toolbox for MATLAB: Difference between revisions

Revision as of 07:14, 8 January 2025

Latest revision as of 18:39, 5 July 2025

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The Toolbox provides functions for manipulating and converting between datatypes such as vectors, [[Transformation matrix|homogeneous transformations]], [[roll-pitch-yaw]] and [[Euler angle|Euler]] angles, [[axis-angle representation]], [[Quaternion|unit-quaternions]], and [[Screw theory#Twist|twists]], which are necessary to represent 3-dimensional position and orientation. It also plots coordinate frames, supports [[Plücker coordinates]] to represent lines, and provides support for [[Lie group]] operations such as logarithm, exponentiation, and conversions to and from [[skew-symmetric matrix]] form.

As the basis of the exercises in several textbooks, the Toolbox is useful for the study and simulation of:<ref>{{cite book|last=Straanowicz|first=Aaron|author2=Gian Luca Mariottini|title=Proceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments |chapter=A survey and comparison of commercial and open-source robotic simulator software |date=2011 |year=2011|isbn=9781450307727|pages=1–8|citeseerx=10.1.1.369.3980|doi=10.1145/2141622.2141689|s2cid=247128}}</ref><ref>{{cite journal|last=Nourdine|first=Aliane|date=September 2011|title=Teaching fundamentals of robotics to computer scientists|journal=Computer Applications in Engineering Education|volume=19|issue=3|pages=615–620|doi=10.1002/cae.20342|s2cid=19389930}}</ref><ref>{{cite book|title=Robotics, Vision & Control|last=Corke|first=Peter|publisher=Springer|year=2017|isbn=978-3-319-54412-0|edition=2nd}}</ref><ref>{{cite book|url=http://www.petercorke.com/rvc|title=Robotics, Vision & Control|last=Corke|first=Peter|publisher=Springer|year=2011|isbn=978-3-642-20143-1}}</ref><ref>{{cite book|title=Introduction to Robotics|last=Craig|first=John|publisher=Prentice-Hall|year=2004|edition=3rd}}</ref>

* classical arm-type robotics: [[kinematics]], [[Dynamics (mechanics)|dynamics]], and [[Trajectory|trajectory generation]]. The Toolbox uses a very general method of representing the kinematics and dynamics of serial-link manipulators using [[Denavit-Hartenberg parameters]] or [[Denavit–Hartenberg_parametersDenavit–Hartenberg parameters#Modified_DH_parametersModified DH parameters|modified Denavit-Hartenberg parameters]]. These parameters are encapsulated in [[MATLAB]] [[Object (computer science)|objects]]. Robot objects can be created by the user for any serial-link manipulator; a number of examples are provided for well known robots such as the [[Programmable Universal Machine for Assembly|Puma 560]] and the Stanford arm amongst others. Operations include [[forward kinematics]], analytic and numerical [[inverse kinematics]], graphical rendering, manipulator Jacobian, [[inverse dynamics]], forward dynamics, and simple path planning. It can operate with symbolic values as well as numeric, and provides a [[Simulink]] blockset.

*Ground robots and includes: standard path planning algorithms (bug, [[distance transform]], [[D*]], and [[Probabilistic roadmap|PRM]]), lattice planning, kinodynamic planning ([[Rapidly exploring random tree|RRT]]), localization ([[Extended Kalman filter|EKF]], [[particle filter]]), map building ([[Extended Kalman filter|EKF]]) and [[simultaneous localization and mapping]] (using an [[Extended Kalman filter|EKF]] or graph-based method), and a [[Simulink]] model of a non-holonomic vehicle.

* Flying [[quadrotor]] robots, and includes a detailed [[Simulink]] model.

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== See also ==

*[[Robot_softwareRobot software#Robotics_Software_ProjectsRobotics Software Projects|Robotics software projects]]

*[[Robotics simulator]]