Robotics Toolbox for MATLAB: Difference between revisions

Revision as of 06:55, 8 September 2013

Revision as of 19:12, 8 September 2013

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The '''Robotics Toolbox''' is mature software that supports research and teaching into arm-type and mobile [[robotics]]. This is [[free software]] but requires the proprietary [[MATLAB]] environment in order to execute.

The Toolbox provides many functions for manipulating and converting between datatypes such as: vectors;[[Transformation_matrix|homogeneous transformations]]; [[Roll-pitch-yaw|roll-pitch-yaw]] and [[Euler_angle|Euler]] angles and [[Quaternion|unit-quaternions]] which are necessary to represent 3-dimensional position and orientation.

The Toolbox is useful for the study and simulation of:

*Classical arm-type robotics: [[kinematics]], [[dynamics]], and [[Trajectory|trajectory generation]]. The Toolbox uses a very general method of representing the kinematics and dynamics of serial-link manipulators. These parameters are encapsulated in [[MATLAB]] [[Object_(computer_science)|objects]], robot objects can be created by the user for any serial-link manipulator and a number of examples are provided for well know robots such as the [[Programmable_Universal_Machine_for_Assembly|Puma 560]] and the Stanford arm amongst others. It can operate with symbolic values as well as numeric.

*Ground robots and includes: standard path planning algorithms (bug, [[Distance_transform|distance transform]], [[D*]], [[Probabilistic_roadmap|PRM]]), kinodynamic planning ([[Rapidly_exploring_random_tree|RRT]]), localization ([[Extended_Kalman_filter|EKF]], [[Particle_filter|particle filter]]), map building ([[Extended_Kalman_filter|EKF]]) and simultaneous localization and mapping ([[Extended_Kalman_filter|EKF]]), and a [[Simulink]] model a of non-holonomic vehicle.

* Flying [[Quadrotor|quadrotor]] robos, and includes a detailed [[Simulink]] model.

The software are generally written in a straightforward manner which allows for easy understanding, perhaps at the expense of computational efficiency.