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 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.
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.