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216 lines
11 KiB
216 lines
11 KiB
% Robotics Toolbox.
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% Version 9.8.0 2013-02-12
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%
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%
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% Homogeneous transformations
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% angvec2r - angle/vector to RM
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% angvec2tr - angle/vector to HT
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% eul2r - Euler angles to RM
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% eul2tr - Euler angles to HT
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% oa2r - orientation and approach vector to RM
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% oa2tr - orientation and approach vector to HT
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% r2t - RM to HT
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% rt2tr - (R,t) to HT
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% rotx - RM for rotation about X-axis
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% roty - RM for rotation about Y-axis
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% rotz - RM for rotation about Z-axis
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% rpy2r - roll/pitch/yaw angles to RM
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% rpy2tr - roll/pitch/yaw angles to HT
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% se2 - HT in SE(2)
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% t2r - HT to RM
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% tr2angvec - HT/RM to angle/vector form
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% tr2eul - HT/RM to Euler angles
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% tr2rpy - HT/RM to roll/pitch/yaw angles
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% tr2rt - HT to (R,t)
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% tranimate - animate a coordinate frame
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% transl - set or extract the translational component of HT
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% trnorm - normalize HT
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% trplot - plot HT as a coordinate frame
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% trplot2 - plot HT, SE(2), as a coordinate frame
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% trprint - print an HT
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% trotx - HT for rotation about X-axis
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% troty - HT for rotation about Y-axis
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% trotz - HT for rotation about Z-axis
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%
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% Homogeneous points and lines
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% e2h - Euclidean coordinates to homogeneous
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% h2e - homogeneous coordinates to Euclidean
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% homline - create line from 2 points
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% homtrans - transform points
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%
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% * HT = homogeneous transformation, a 4x4 matrix, belongs to the group SE(3).
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% * RM = RM, an orthonormal 3x3 matrix, belongs to the group SO(3).
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% * Functions of the form <b>tr2XX</b> will also accept a RM as the argument.
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%
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% Differential motion
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% delta2tr - differential motion vector to HT
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% eul2jac - Euler angles to Jacobian
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% rpy2jac - RPY angles to Jacobian
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% skew - vector to skew symmetric matrix
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% tr2delta - HT to differential motion vector
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% tr2jac - HT to Jacobian
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% vex - skew symmetric matrix to vector
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% wtrans - transform wrench between frames
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%
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% Trajectory generation
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% ctraj - Cartesian trajectory
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% jtraj - joint space trajectory
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% lspb - 1D trapezoidal trajectory
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% mtraj - multi-axis trajectory for arbitrary function
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% mstraj - multi-axis multi-segment trajectory
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% tpoly - 1D polynomial trajectory
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% trinterp - interpolate HT s
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%
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% Quaternion
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% Quaternion - constructor
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% / - divide quaternion by quaternion or scalar
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% * - multiply quaternion by a quaternion or vector
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% inv - invert a quaternion
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% norm - norm of a quaternion
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% plot - display a quaternion as a 3D rotation
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% unit - unitize a quaternion
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% interp - interpolate a quaternion
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%
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% Serial-link manipulator
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% SerialLink - construct a serial-link robot object
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% Link - construct a robot link object
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% Revolute - construct a revolute robot link object
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% Prismatic - construct a prismatic robot link object
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% * - compound two robots
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% friction - return joint friction torques
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% nofriction - return a robot object with no friction
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% perturb - return a robot object with perturbed parameters
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% plot - plot/animate robot
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% teach - drive a graphical robot
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% CodeGenerator - create efficient run-time kinematic and dynamics code
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%
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% Models
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% mdl_ball - high order ball shaped mechanism
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% mdl_coil - high order coil shaped mechanism
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% mdl_Fanuc10L - Fanuc 10L (DH, kine)
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% mdl_MotomanHP6 - Motoman HP6 (DH, kine)
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% mdl_phantomx - Trossen Robotics PhantomX pincher
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% mdl_puma560 - Puma 560 data (DH, kine, dyn)
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% mdl_puma560_3 - Puma 560, first 3 joints, kine only
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% mdl_puma560_3_sym - Puma 560, first 3 joints, symbolic, kine only
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% mdl_puma560akb - Puma 560 data (MDH, kine, dyn)
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% mdl_p8 - Puma 6-axis robot on a 2-axis XY base
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% mdl_S4ABB2p8 - ABB S4 2.8 (DH, kine)
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% mdl_stanford - Stanford arm data (DH, kine, dyn)
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% mdl_twolink - simple 2-link example (DH, kine)
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% DHFactor - convert elementary transformations to DH form
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%
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% Kinematic
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% DHFactor - transform sequence to DH description
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% fkine - forward kinematics
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% ikine - inverse kinematics (numeric)
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% ikine6s - inverse kinematics for 6-axis arm with sph.wrist
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% jacob0 - Jacobian in base coordinate frame
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% jacobn - Jacobian in end-effector coordinate frame
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% maniplty - compute manipulability
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%
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% Dynamics
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% accel - forward dynamics
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% cinertia - Cartesian manipulator inertia matrix
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% coriolis - centripetal/coriolis torque
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% fdyn - forward dynamics
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% wtrans - transform a force/moment
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% gravload - gravity loading
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% inertia - manipulator inertia matrix
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% itorque - inertia torque
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% rne - inverse dynamics
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%
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% Mobile robot
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% Map - point feature map object
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% RandomPath - driver for Vehicle object
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% RangeBearingSensor - "laser scanner" object
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% Vehicle - construct a mobile robot object
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% sl_bicycle - Simulink "bicycle model" of non-holonomic wheeled vehicle
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% Navigation - Navigation superclass
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% Sensor - robot sensor superclass
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% plot_vehicle - plot vehicle
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% makemap - make a map, occupancy grid
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% mdl_quadcopter - simple quadcopter model
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% sl_quadrotor - Simulink model of a flying quadrotor
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%
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% Localization
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% EKF - extended Kalman filter object
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% ParticleFilter - Monte Carlo estimator
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%
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% Path planning
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% Bug2 - bug navigation
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% DXform - distance transform from map
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% Dstar - D* planner
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% PRM - probabilistic roadmap planner
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% RRT - rapidly exploring random tree
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%
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% Graphics
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% plot2 - plot trajectory
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% plotp - plot points
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% plot_arrow - draw an arrow
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% plot_box - draw a box
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% plot_circle - draw a circle
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% plot_ellipse - draw an ellipse
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% plot_homline - plot homogeneous line
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% plot_point - plot points
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% plot_poly - plot polygon
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% plot_sphere - draw a sphere
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% qplot - plot joint angle trajectories
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% plot2 - Plot trajectories
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% plotp - Plot trajectories
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% xaxis - set x-axis scaling
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% yaxis - set y-axis scaling
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% xyzlabel - label axes x, y and z
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%
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% Utility
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% about - summary of object size and type
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% angdiff - subtract 2 angles modulo 2pi
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% bresenham - Bresenhan line drawing
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% circle - compute/draw points on a circle
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% colnorm - columnwise norm of matrix
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% diff2 - elementwise diff
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% distancexform - compute distance transform
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% edgelist - list of edge pixels
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% gauss2d - Gaussian distribution in 2D
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% ishomog - true if argument is a 4x4 matrix
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% ismatrix - true if non scalar
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% isrot - true if argument is a 3x3 matrix
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% isvec - true if argument is a 3-vector
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% numcols - number of columns in matrix
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% numrows - number of rows in matrix
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% peak - find peak in 1D signal
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% peak2 - find peak in 2D signal
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% PGraph - general purpose graph class
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% polydiff - derivative of polynomial
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% Polygon - general purpose polygon class
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% randinit - initialize random number generator
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% ramp - create linear ramp
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% runscript - interactively run a script or demo
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% unit - unitize a vector
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% tb_optparse - toolbox argument parser
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%
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% CodeGen support
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% distributeblocks - distribute blocks in a Simulink library
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% doesblockexist - checks if a Simulink block exists
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% multidfprintf - fprintf to multiple files
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% symexpr2slblock - embedded Matlab symbolic functions
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% simulinkext - determine extension of Simulink files
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%
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% Demonstrations
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% rtbdemo - Serial-link manipulator demonstration
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% tripleangle - GUI to demonsrate triple angle rotations
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%
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% Examples
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% sl_quadcopter - Simulink model of a flying quadcopter
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% sl_braitenberg - Simulink model a Braitenberg vehicle
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% movepoint - non-holonomic vehicle moving to a point
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% moveline - non-holonomic vehicle moving to a line
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% movepose - non-holonomic vehicle moving to a pose
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% walking - example of 4-legged walking robot
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% eg_inertia - joint 1 inertia I(q1,q2)
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% eg_inertia22 - joint 2 inertia I(q3)
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% eg_grav - joint 2 gravity load g(q2,q3)
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%
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% * located in the examples folder
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%
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% Copyright (C) 2011 Peter Corke
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