Robotics toolbox for MATLAB, release 9 [Software]
Corke, Peter (2011) Robotics toolbox for MATLAB, release 9 [Software]. Robotics toolbox for MATLAB. (Unpublished)
The ninth release of the Toolbox, represents over fifteen years of development and a substantial level of maturity. This version captures a large number of changes and extensions generated over the last two years which support my new book “Robotics, Vision & Control”.
The Toolbox has always provided many functions that are useful for the study and simulation of classical arm-type robotics, for example such things as kinematics, dynamics, and trajectory generation. The Toolbox is based on 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 know robots such as the Puma 560 and the Stanford arm amongst others. The Toolbox also provides functions for manipulating and converting between datatypes such as vectors, homogeneous transformations and unit-quaternions which are necessary to represent 3-dimensional position and orientation.
This ninth release of the Toolbox has been significantly extended to support mobile robots. For ground robots the Toolbox 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. The Toolbox also including a detailed Simulink model for a quadcopter flying robot.
Impact and interest:
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|Additional Information:||Release 9 dated 10 Sept 2011. Toolbox is tested with MATLAB R2011a|
|Keywords:||Robotics, MATLAB, Simulink, Mobile robots|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > COMPUTER SOFTWARE (080300) > Open Software (080306)|
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science|
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Peter I. Corke|
|Copyright Statement:||Open source software. Freely available for download.|
|Deposited On:||11 May 2012 13:49|
|Last Modified:||11 May 2012 13:49|
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