Robotics Toolbox for MATLAB: Difference between revisions

Revision as of 01:35, 9 September 2013

Revision as of 11:29, 10 September 2013

Line 13:

}}

The '''Robotics Toolbox''' is mature[[MATLAB]] Toolbox 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.

<ref>{{cite journal|last=Straanowicz|first=Aaron|coauthors=Gian Luca Mariottini|title=A Survey and Comparison of Commercial and Open-Source Robotic Simulator Software|journal=Proceedings of the 4th International Conference on PErvasive Technologies Related to Assistive Environments|year=2011|doi=10.1145/2141622.2141689}}</ref>.

This is [[free software]] but requires the proprietary [[MATLAB]] environment in order to execute.

The Toolbox forms the basis of the exercises in the textbooks

<ref>{{cite book|last=Craig|first=John|title=Introduction to Robotics (3rd edition)|year=2004|publisher=Prentice-Hall}}</ref>

*<ref>{{cite book |yearlast=2011 Corke|first=Peter|title=Robotics, Vision & Control|year=2011|publisher=Springer |isbn=978-3-642-20143-1 |url=http://www.petercorke.com/rvc }}</ref>.

The Toolbox provides many functions for manipulating and converting between datatypes such as: vectors;[[Transformation_matrix|homogeneous transformations]]; [[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]], [[D*]], [[Probabilistic_roadmap|PRM]]), 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 ([[Extended_Kalman_filter|EKF]]), and a [[Simulink]] model a of non-holonomic vehicle.

* Flying [[quadrotor]] robosrobots, 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.

== See also ==

*[[Robot_software#Robotics_Software_Projects|Robotics software projects]]

{{Portal|Free software|Robotics}}

==References==

{{Reflist|1}}

*{{cite web |year=2013 |title=Manual (PDF) |url=http://www.petercorke.com/RTB/r9/robot.pdf }}

*{{cite book |year=2011 |title=Robotics, Vision & Control|publisher=Springer |isbn=978-3-642-20143-1 |url=http://www.petercorke.com/rvc }}

==External links==

* {{Officialcite web |year=2013 |title=Toolbox manual (PDF) website|url=http://www.petercorke.com/RTB/r9/robot.pdf }}

* [http://codewww.googlepetercorke.com/p/matlab-toolboxes-robotics-vision toolboxrobot sourceHomepage onand GoogleCodedownloads]

* [http://wwwcode.ohlohgoogle.netcom/p/matlab-toolboxes-robotics-vision toolboxToolbox descriptionsource on OhlohGoogleCode]

* [http://www.ohloh.net/p/matlab-toolboxes-robotics-vision Toolbox description on Ohloh]

[[Category:Free software]]