Robotics Toolbox for MATLAB: Difference between revisions

Revision as of 02:38, 28 December 2018

Revision as of 11:16, 4 January 2019

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<ref>{{cite book|last=Corke|first=Peter|year=2017 |title=Robotics, Vision & Control (2nd edition)|publisher=Springer|isbn=978-3-319-54412-0}}</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><ref>{{cite book|last=Craig|first=John|title=Introduction to Robotics (3rd edition)|year=2004|publisher=Prentice-Hall}}</ref>

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|axis-angle representation]]; [[Quaternion|unit-quaternions]]; and [[Screw theory#Twist|twists]] which are necessary to represent 3-dimensional position and orientation. It also 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.

The Toolbox is useful for the study and simulation of: