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Toolbox.
Version 9.9.0 2014-04-28
Homogeneous transformations 3D
| angvec2r | - angle/vector to RM |
| angvec2tr | - angle/vector to HT |
| eul2r | - Euler angles to RM |
| eul2tr | - Euler angles to HT |
| oa2r | - orientation and approach vector to RM |
| oa2tr | - orientation and approach vector to HT |
| r2t | - RM to HT |
| rt2tr | - (R,t) to HT |
| rotx | - RM for rotation about X-axis |
| roty | - RM for rotation about Y-axis |
| rotz | - RM for rotation about Z-axis |
| rpy2r | - roll/pitch/yaw angles to RM |
| rpy2tr | - roll/pitch/yaw angles to HT |
| t2r | - HT to RM |
| tr2angvec | - HT/RM to angle/vector form |
| tr2eul | - HT/RM to Euler angles |
| tr2rpy | - HT/RM to roll/pitch/yaw angles |
| tr2rt | - HT to (R,t) |
| tranimate | - animate a coordinate frame |
| trchain | - evaluate a series of transforms |
| tripleangle | - graphical interactive three angle rotation |
| transl | - set or extract the translational component of HT |
| trnorm | - normalize HT |
| trchain | - chain of SE(3) transforms |
| trplot | - plot HT as a coordinate frame |
| trprint | - print an HT |
| trotx | - HT for rotation about X-axis |
| troty | - HT for rotation about Y-axis |
| trotz | - HT for rotation about Z-axis |
| trscale | - HT for scale change |
* HT: homogeneous transformation, a 4x4 matrix, in SE(3) * RM: rotation matrix, orthonormal 3x3 matrix, in SO(3) * Functions of the form tr2XX will also accept an HT or RM as the argument
Homogeneous transformations 2D
| rot2 | - RM for SE(2) rotation |
| se2 | - HT in SE(2) |
| transl2 | - set or extract the translational component of SE(2) HT |
| trchain2 | - chain of SE(2) transforms |
| trot2 | - SO(2) rotation |
| trplot2 | - plot HT, SE(2), as a coordinate frame |
* HT: homogeneous transformation, a 3x3 matrix, in SE(2) * RM: rotation matrix, orthonormal 2x2 matrix, in SO(2)
Homogeneous points and lines
| e2h | - Euclidean coordinates to homogeneous |
| h2e | - homogeneous coordinates to Euclidean |
| homline | - create line from 2 points |
| homtrans | - transform points |
Differential motion
| delta2tr | - differential motion vector to HT |
| eul2jac | - Euler angles to Jacobian |
| rpy2jac | - RPY angles to Jacobian |
| skew | - vector to skew symmetric matrix |
| tr2delta | - HT to differential motion vector |
| tr2jac | - HT to Jacobian |
| vex | - skew symmetric matrix to vector |
| wtrans | - transform wrench between frames |
Trajectory generation
| ctraj | - Cartesian trajectory |
| jtraj | - joint space trajectory |
| lspb | - 1D trapezoidal trajectory |
| mtraj | - multi-axis trajectory for arbitrary function |
| mstraj | - multi-axis multi-segment trajectory |
| tpoly | - 1D polynomial trajectory |
| trinterp | - interpolate HT s |
Quaternion
| Quaternion | - constructor |
| / | - divide quaternion by quaternion or scalar |
| * | - multiply quaternion by a quaternion or vector |
| inv | - invert a quaternion |
| norm | - norm of a quaternion |
| plot | - display a quaternion as a 3D rotation |
| unit | - unitize a quaternion |
| interp | - interpolate a quaternion |
Serial-link manipulator
| CodeGenerator | - construct a robot specific code generator object |
| SerialLink | - construct a serial-link robot object |
| Link | - construct a general robot link object |
| Prismatic | - construct a prismatic robot link object |
| Revolute | - construct a revolute robot link object |
| PrismaticMDH | - construct a prismatic robot link object |
| RevoluteMDH | - construct a revolute robot link object |
| * | - compound two robots |
| friction | - return joint friction torques |
| nofriction | - return a robot object with no friction |
| perturb | - return a robot object with perturbed parameters |
| plot | - plot/animate robot |
| plot3d | - plot/animate robot as solid model |
| teach | - drive a graphical robot |
Models
mdl_Fanuc10L - Fanuc 10L (DH, kine) mdl_irb140 - ABB IRB140 (DH, kine) mdl_irb140_mdh - ABB IRB140 (MDH, kine) mdl_jaco - Kinova Jaco arm (DH, kine) mdl_m16 - Fanuc M16 (DH, kine) mdl_mico - Kinova Mico arm (DH, kine) mdl_MotomanHP6 - Motoman HP6 (DH, kine) mdl_nao - Alderabaran NAO arms and legs (DH, kine) mdl_phantomx - PhantomX pincher 4DOF hobby arm (DH, kine) mdl_puma560 - Puma 560 data (DH, kine, dyn) mdl_puma560akb - Puma 560 data (MDH, kine, dyn) mdl_S4ABB2p8 - ABB S4 2.8 (DH, kine) mdl_stanford - Stanford arm data (DH, kine, dyn) mdl_stanford_mdh - Stanford arm data (MDH, kine, dyn) mdl_onelink - simple 1-link example (DH, kine) mdl_planar1 - simple 1 link planar model (DH, kine) mdl_planar2 - simple 2 link planar model (DH, kine) mdl_planar3 - simple 3 link planar model (DH, kine) mdl_3link3d - Simple 3DOF arm, no shoulder offset (DH, kine) mdl_twolink - simple 2-link example (DH, kine, dyn) mdl_twolink_mdh - simple 2-link example (MDH, kine) mdl_ball - high DOF chain that forms a ball mdl_coil - high DOF chain that forms a coil mdl_hyper2d - 2D high DOF chain mdl_hyper3d - 3D high DOF chain mdl_quadcopter - simple quadcopter model
Kinematic
DHFactor - transform sequence to DH description jsingu - find dependent joints fkine - forward kinematics ikine - inverse kinematics (numeric) ikine_sym - inverse kinematics (symbolic) ikine6s - inverse kinematics for 6-axis arm with sph.wrist jacob0 - Jacobian in base coordinate frame jacobn - Jacobian in end-effector coordinate frame maniplty - compute manipulability
Dynamics
accel - forward dynamics cinertia - Cartesian manipulator inertia matrix coriolis - centripetal/coriolis torque fdyn - forward dynamics wtrans - transform a force/moment gravload - gravity loading inertia - manipulator inertia matrix itorque - inertia torque rne - inverse dynamics
Mobile robot
| Map | - point feature map object |
| RandomPath | - driver for Vehicle object |
| RangeBearingSensor | - "laser scanner" object |
| Vehicle | - construct a mobile robot object |
| sl_bicycle | - Simulink "bicycle model" of non-holonomic wheeled vehicle |
| Navigation | - Navigation superclass |
| Sensor | - robot sensor superclass |
| makemap | - build an occupancy grid |
| plot_vehicle | - plot vehicle |
Localization
EKF - extended Kalman filter object ParticleFilter - Monte Carlo estimator
Path planning
Bug2 - bug navigation DXform - distance transform from map Dstar - D* planner PRM - probabilistic roadmap planner RRT - rapidly exploring random tree
Graphics
| plot2 | - plot trajectory |
| plotp | - plot points |
| plot_arrow | - draw an arrow |
| plot_box | - draw a box |
| plot_circle | - draw a circle |
| plot_ellipse | - draw an ellipse |
| plot_homline | - plot homogeneous line |
| plot_point | - plot points |
| plot_poly | - plot polygon |
| plot_sphere | - draw a sphere |
| qplot | - plot joint angle trajectories |
| plot2 | - Plot trajectories |
| plotp | - Plot trajectories |
| xaxis | - set x-axis scaling |
| yaxis | - set y-axis scaling |
| xyzlabel | - label axes x, y and z |
Utility
| about | - summary of object size and type |
| angdiff | - subtract 2 angles modulo 2pi |
| arrow3 | - draw a 3D arrow (third party code) |
| bresenham | - Bresenhan line drawing |
| circle | - compute/draw points on a circle |
| colnorm | - columnwise norm of matrix |
| colorname | - map color name to RGB |
| diff2 | - elementwise diff |
| edgelist | - trace edge of a shape |
| gauss2d | - Gaussian distribution in 2D |
| ishomog | - true if argument is a 4x4 matrix |
| ismatrix | - true if non scalar |
| isrot | - true if argument is a 3x3 matrix |
| isvec | - true if argument is a 3-vector |
| numcols | - number of columns in matrix |
| numrows | - number of rows in matrix |
| peak | - find peak in 1D signal |
| peak2 | - find peak in 2D signal |
| PGraph | - general purpose graph class |
| polydiff | - derivative of polynomial |
| Polygon | - general purpose polygon class |
| randinit | - initialize random number generator |
| ramp | - create linear ramp |
| unit | - unitize a vector |
| tb_optparse | - toolbox argument parser |
| distancexform | - compute distance transform |
| runscript | - interactively step through a script |
| multidfprintf | - printf extension |
Demonstrations
| rtbdemo | - Serial-link manipulator demonstration |
| tripleangle | - demonstrate angle sequences |
Interfacing
| RobotArm | - Connect SerialLink object to real robot |
| joystick | - Help for joystick interface mex file |
| joy2tr | - Update HT based on joystick input |
| VREP | - VREP interface class |
| VREP_mirror | - MATLAB mirror for VREP object |
| VREP_arm | - MATLAB mirror for VREP robot arm |
| VREP_obj | - MATLAB mirror for VREP object |
| VREP_camera | - MATLAB mirror for VREP camera object |
* Arbotix class in the folder robot/interfaces * VREP classes are in the folder robot/interfaces/VREP
Examples
| sl_quadcopter | - Simulink model of a flying quadcopter |
| sl_braitenberg | - Simulink model a Braitenberg vehicle |
| movepoint | - non-holonomic vehicle moving to a point |
| moveline | - non-holonomic vehicle moving to a line |
| movepose | - non-holonomic vehicle moving to a pose |
| walking | - example of 4-legged walking robot |
| eg_inertia | - joint 1 inertia I(q1,q2) |
| eg_inertia22 | - joint 2 inertia I(q3) |
| eg_grav | - joint 2 gravity load g(q2,q3) |
* located in the examples folder
copyright (C) 2011 Peter Corke
© 1990-2014 Peter Corke.