Robotics Toolbox for MATLAB

This is an old revision of this page, as edited by Peter.corke (talk | contribs) at 06:50, 8 September 2013. The present address (URL) is a permanent link to this revision, which may differ significantly from the current revision.

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.

Robotics Toolbox for MATLAB
Developer(s)Peter Corke
Stable release
9.8 / February 2, 2013
TypeRobotics suite
LicenseLGPL
Websitehttp://www.petercorke.com/robot

The Toolbox provides many functions for manipulating and converting between datatypes such as: vectors;homogeneous transformations; roll-pitch-yaw and Euler angles and 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 generation. The Toolbox uses a very general method of representing the kinematics and dynamics of serial-link manipulators. These parameters are encapsulated in MATLAB 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 Puma 560 and the Stanford arm amongst others.
  • Ground robots and includes: standard path planning algorithms (bug, distance transform, D*, PRM), kinodynamic planning (RRT), localization (EKF, particle filter), map building (EKF) and simultaneous localization and mapping (EKF), and a Simulink model a of non-holonomic vehicle.
  • Flying 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.

See also

References

  • [(PDF)]
  • Robotics, Vision & Control. Springer. 2011. ISBN 978-3-642-20143-1.