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 |
| Type | Robotics suite |
| License | LGPL |
| Website | http://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. It can operate with symbolic values as well as numeric.
- 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
- "Manual (PDF)" (PDF). 2013.
- Robotics, Vision & Control. Springer. 2011. ISBN 978-3-642-20143-1.