Robotics Toolbox for MATLAB: Difference between revisions

Revision as of 17:28, 4 October 2013

Revision as of 16:16, 28 November 2013

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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 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 knowknown 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]] robots, and includes a detailed [[Simulink]] model.