M-File Help: Contents | View code for Contents |
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.