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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.