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 MATLAB Toolbox software that supports research and teaching into arm-type and mobile robotics. [1][2] This is free software but requires the proprietary MATLAB environment in order to execute. A subset of functions have been ported to GNU Octave. The Toolbox forms the basis of the exercises in the textbooks. [3][4]
The Toolbox provides 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 known 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 robots, and includes a detailed Simulink model.
See also
References
- ^ Straanowicz, Aaron; Gian Luca Mariottini (2011). "A Survey and Comparison of Commercial and Open-Source Robotic Simulator Software". Proceedings of the 4th International Conference on Pervasive Technologies Related to Assistive Environments. doi:10.1145/2141622.2141689.
- ^ Nourdine, Aliane (September 2011). "Teaching fundamentals of robotics to computer scientists". Computer Applications in Engineering Education. 19 (3): 615–620. doi:10.1002/cae.20342.
- ^ Craig, John (2004). Introduction to Robotics (3rd edition). Prentice-Hall.
- ^ Corke, Peter (2011). Robotics, Vision & Control. Springer. ISBN 978-3-642-20143-1.