Homogeneous transformations

angvec2rangle/vector to RM
angvec2trangle/vector to HT
eul2rEuler angles to RM
eul2trEuler angles to HT
oa2rorientation and approach vector to RM
oa2trorientation and approach vector to HT
r2tRM to HT
rt2tr(R,t) to HT
rotxRM for rotation about X-axis
rotyRM for rotation about Y-axis
rotzRM for rotation about Z-axis
rpy2rroll/pitch/yaw angles to RM
rpy2trroll/pitch/yaw angles to HT
se2HT in SE(2)
t2rHT to RM
tr2angvecHT/RM to angle/vector form
tr2eulHT/RM to Euler angles
tr2rpyHT/RM to roll/pitch/yaw angles
tranimateanimate a coordinate frame
translset or extract the translational component of HT
trnormnormalize HT
trplotplot HT as a coordinate frame
trplot2plot HT, SE(2), as a coordinate frame
trotxHT for rotation about X-axis
trotyHT for rotation about Y-axis
trotzHT for rotation about Z-axis

Homogeneous points and lines

e2hEuclidean coordinates to homogeneous
h2ehomogeneous coordinates to Euclidean
homlinecreate line from 2 points
homtranstransform points

Differential motion

delta2trdifferential motion vector to HT
eul2jacEuler angles to Jacobian
rpy2jacRPY angles to Jacobian
skewvector to skew symmetric matrix
tr2deltaHT to differential motion vector
tr2jacHT to Jacobian
vexskew symmetric matrix to vector
wtranstransform wrench between frames

Trajectory generation

ctrajCartesian trajectory
jtrajjoint space trajectory
lspb1D trapezoidal trajectory
mtrajmulti-axis trajectory for arbitrary function
mstrajmulti-axis multi-segment trajectory
tpoly1D polynomial trajectory
trinterpinterpolate HT s

Quaternion

Quaternionconstructor
/divide quaternion by quaternion or scalar
*multiply quaternion by a quaternion or vector
Quaternion.invinvert a quaternion
Quaternion.normnorm of a quaternion
Quaternion.plotdisplay a quaternion as a 3D rotation
Quaternion.unitunitize a quaternion
Quaternion.interpinterpolate a quaternion

Serial-link manipulator

SerialLinkconstruct a serial-link robot object
Linkconstruct a robot link object
*compound two robots
SerialLink.frictionreturn joint friction torques
SerialLink.nofrictionreturn a robot object with no friction
SerialLink.perturbreturn a robot object with perturbed parameters
SerialLink.plotplot/animate robot
SerialLink.teachdrive a graphical robot

Models

DHFactorconvert elementary transformations to DH form
mdl_Fanuc10LFanuc 10L (DH, kine)
mdl_MotomanHP6Motoman HP6 (DH, kine)
mdl_puma560Puma 560 data (DH, kine, dyn)
mdl_puma560akbPuma 560 data (MDH, kine, dyn)
mdl_robotconstruct a robot object
mdl_stanfordStanford arm data (DH, kine, dyn)
mdl_S4ABB2p8ABB S4 2.8 (DH, kine)
mdl_twolinksimple 2-link example (DH, kine)

Kinematic

DHFactortransform sequence to DH description
SerialLink.fkineforward kinematics
SerialLink.ikineinverse kinematics (numeric)
SerialLink.ikine6sinverse kinematics for 6-axis arm with sph.wrist
SerialLink.jacob0Jacobian in base coordinate frame
SerialLink.jacobnJacobian in end-effector coordinate frame
SerialLink.manipltycompute manipulability

Dynamics

SerialLink.accelforward dynamics
SerialLink.cinertiaCartesian manipulator inertia matrix
SerialLink.corioliscentripetal/coriolis torque
SerialLink.fdynforward dynamics
wtranstransform a force/moment
SerialLink.gravloadgravity loading
SerialLink.inertiamanipulator inertia matrix
SerialLink.itorqueinertia torque
SerialLink.rneinverse dynamics

Mobile robot

Mappoint feature map object
RandomPathdriver for Vehicle object
RangeBearingSensor"laser scanner" object
Vehicleconstruct a mobile robot object
sl_bicycleSimulink "bicycle model" of non-holonomic wheeled vehicle
NavigationNavigation superclass
Sensorrobot sensor superclass

Localization

EKFextended Kalman filter object
ParticleFilterMonte Carlo estimator

Path planning

Bug2bug navigation
DXformdistance transform from map
DstarD* planner
PRMprobabilistic roadmap planner
RRTrapidly exploring random tree

Graphics

plot2plot trajectory
plotpplot points
plot_boxdraw a box
plot_arrowdraw an arrow
plot_circledraw a circle
plot_ellipsedraw an ellipse
plot_homlineplot homogeneous line
plot_pointplot points
plot_polyplot polygon
plot_spheredraw a sphere
qplotplot joint angle trajectories
plot2Plot trajectories
plotpPlot trajectories

Utility

aboutsummary of object size and type
angdiffsubtract 2 angles modulo 2pi
circlecompute/draw points on a circle
colnormcolumnwise norm of matrix
diff2elementwise diff
gauss2dGaussian distribution in 2D
ishomogtrue if argument is a 4x4 matrix
ismatrixtrue if non scalar
isrottrue if argument is a 3x3 matrix
isvectrue if argument is a 3-vector
numcolsnumber of columns in matrix
numrowsnumber of rows in matrix
Pgraphgeneral purpose graph class
Polygongeneral purpose polygon class
randinitinitialize random number generator
rampcreate linear ramp
unitunitize a vector
tb_optparsetoolbox argument parser

Demonstrations

rtdemoSerial-link manipulator demonstration

Examples

sl_quadcopterSimulink model of a flying quadcopter
sl_braitenbergSimulink model a Braitenberg vehicle
movepointnon-holonomic vehicle moving to a point
movelinenon-holonomic vehicle moving to a line
moveposenon-holonomic vehicle moving to a pose
walkingexample of 4-legged walking robot
eg_inertiajoint 1 inertia I(q1,q2)
eg_inertia22joint 2 inertia I(q3)
eg_gravjoint 2 gravity load g(q2,q3)



Copyright © 1990-2011 Peter Corke