Robotics Toolbox for MATLAB: Difference between revisions

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The '''Robotics Toolbox''' is [[MATLAB]] Toolbox software that supports research and teaching into arm-type and mobile [[robotics]]

<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>

.<ref>{{cite journal|last=Nourdine|first=Aliane|title=Teaching fundamentals of robotics to computer scientists|journal=Computer Applications in Engineering Education|year=2011|month=September|volume=19|issue=3|pages=615-620615–620|doi=10.1002/cae.20342}}</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|last=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 functions for manipulating and converting between datatypes such as: vectors;[[Transformation_matrixTransformation matrix|homogeneous transformations]]; [[roll-pitch-yaw]] and [[Euler_angleEuler 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_Object (computer_sciencecomputer 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_AssemblyProgrammable 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_roadmapProbabilistic roadmap|PRM]]), kinodynamic planning ([[Rapidly_exploring_random_treeRapidly exploring random tree|RRT]]), localization ([[Extended_Kalman_filterExtended Kalman filter|EKF]], [[particle filter]]), map building ([[Extended_Kalman_filterExtended Kalman filter|EKF]]) and simultaneous localization and mapping ([[Extended_Kalman_filterExtended Kalman filter|EKF]]), and a [[Simulink]] model a of non-holonomic vehicle.

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