% Robotics Toolbox. % Version 9.8.0 2013-02-12 % % % Homogeneous transformations % 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 % se2 - HT in SE(2) % 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 % transl - set or extract the translational component of HT % trnorm - normalize HT % trplot - plot HT as a coordinate frame % trplot2 - plot HT, SE(2), 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 % % Homogeneous points and lines % e2h - Euclidean coordinates to homogeneous % h2e - homogeneous coordinates to Euclidean % homline - create line from 2 points % homtrans - transform points % % * HT = homogeneous transformation, a 4x4 matrix, belongs to the group SE(3). % * RM = RM, an orthonormal 3x3 matrix, belongs to the group SO(3). % * Functions of the form tr2XX will also accept a RM as the argument. % % 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 % SerialLink - construct a serial-link robot object % Link - construct a robot link object % Revolute - construct a revolute robot link object % Prismatic - construct a prismatic 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 % teach - drive a graphical robot % CodeGenerator - create efficient run-time kinematic and dynamics code % % Models % mdl_ball - high order ball shaped mechanism % mdl_coil - high order coil shaped mechanism % mdl_Fanuc10L - Fanuc 10L (DH, kine) % mdl_MotomanHP6 - Motoman HP6 (DH, kine) % mdl_phantomx - Trossen Robotics PhantomX pincher % mdl_puma560 - Puma 560 data (DH, kine, dyn) % mdl_puma560_3 - Puma 560, first 3 joints, kine only % mdl_puma560_3_sym - Puma 560, first 3 joints, symbolic, kine only % mdl_puma560akb - Puma 560 data (MDH, kine, dyn) % mdl_p8 - Puma 6-axis robot on a 2-axis XY base % mdl_S4ABB2p8 - ABB S4 2.8 (DH, kine) % mdl_stanford - Stanford arm data (DH, kine, dyn) % mdl_twolink - simple 2-link example (DH, kine) % DHFactor - convert elementary transformations to DH form % % Kinematic % DHFactor - transform sequence to DH description % fkine - forward kinematics % ikine - inverse kinematics (numeric) % 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 % plot_vehicle - plot vehicle % makemap - make a map, occupancy grid % mdl_quadcopter - simple quadcopter model % sl_quadrotor - Simulink model of a flying quadrotor % % 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 % bresenham - Bresenhan line drawing % circle - compute/draw points on a circle % colnorm - columnwise norm of matrix % diff2 - elementwise diff % distancexform - compute distance transform % edgelist - list of edge pixels % 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 % runscript - interactively run a script or demo % unit - unitize a vector % tb_optparse - toolbox argument parser % % CodeGen support % distributeblocks - distribute blocks in a Simulink library % doesblockexist - checks if a Simulink block exists % multidfprintf - fprintf to multiple files % symexpr2slblock - embedded Matlab symbolic functions % simulinkext - determine extension of Simulink files % % Demonstrations % rtbdemo - Serial-link manipulator demonstration % tripleangle - GUI to demonsrate triple angle rotations % % 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