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Robot Models

Rigid body tree models, forward kinematics, dynamics, joint- and task-space motion models

Robot models simulate the kinematic and dynamic properties of manipulator robots and other rigid body systems. The models arerigidBodyTreeobjects containingrigidBodyandrigidBodyJointelements with joint transformations and inertial properties.

Access predefined models for certain commercial robots, such as KINOVA™ and KUKA™, using theloadrobotfunction.

Import existing UDRF orSimscape™ Multibody™models usingimportrobot.

Model the motion of the robots using joint- or task-space motion models asjointSpaceMotionModelandtaskSpaceMotionModelobjects.

Functions

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importrobot Import rigid body tree model from URDF, SDF file, text, orSimscapeMultibodymodel
loadrobot Load rigid body tree robot model
rigidBodyTree Create tree-structured robot
rigidBody Create a rigid body
rigidBodyJoint Create a joint
interactiveRigidBodyTree Interact with rigid body tree robot models
jointSpaceMotionModel Model rigid body tree motion given joint-space inputs
taskSpaceMotionModel Model rigid body tree motion given task-space reference inputs
getTransform Get transform between body frames
randomConfiguration Generate random configuration of robot
homeConfiguration Get home configuration of robot
show Show robot model in figure
centerOfMass Center of mass position and Jacobian
externalForce Compose external force matrix relative to base
forwardDynamics Joint accelerations given joint torques and states
geometricJacobian Geometric Jacobian for robot configuration
gravityTorque Joint torques that compensate gravity
inverseDynamics Required joint torques for given motion
massMatrix Joint-space mass matrix
velocityProduct Joint torques that cancel velocity-induced forces

Blocks

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Forward Dynamics Joint accelerations given joint torques and states
Inverse Dynamics Required joint torques for given motion
Get Jacobian Geometric Jacobian for robot configuration
Get Transform Get transform between body frames
Gravity Torque Joint torques that compensate gravity
Joint Space Mass Matrix Joint-space mass matrix for robot configuration
Velocity Product Torque Joint torques that cancel velocity-induced forces
Joint Space Motion Model Model rigid body tree motion given joint-space inputs
Task Space Motion Model Model rigid body tree motion given task-space inputs

Topics

Kinematics

Rigid Body Tree Robot Model

Explore the structure and specific components of a rigid body tree robot model.

Build a Robot Step by Step

This example goes through the process of building a robot step by step, showing you the different robot components and how functions are called to build it.

Build Manipulator Robot Using Kinematic DH Parameters

Use the Denavit-Hartenberg (DH) parameters of the Puma560® manipulator robot to incrementally build a rigid body tree robot model.

Dynamics

Robot Dynamics

This topic details the different elements, properties, and equations of rigid body robot dynamics.Robot dynamicsare the relationship between the forces acting on a robot and the resulting motion of the robot.

Compute Joint Torques To Balance An Endpoint Force and Moment

Generate torques to balance an endpoint force acting on the end-effector body of a planar robot.

Simulation

Configure Gazebo and Simulink for Co-simulation of a Manipulator Robot

Set up a UR10 robot model to perform co-simulation between Gazebo and Simulink™.

Control Manipulator Robot with Co-Simulation in Simulink and Gazebo

模拟控制的机器人机械手使用有限公司-simulation between Simulink and Gazebo.

Featured Examples

Load Predefined Robot Models

Load Predefined Robot Models

To quickly access common robot models, use the loadrobot function, which loads commercially available robot models like the Universal Robots™ UR10 cobot, Boston Dynamics™ Atlas humanoid, and KINOVA™ Gen 3 manipulator. Explore how to generate joint configurations and interact with the robot models.
Open Live Script
Build Basic Rigid Body Tree Models

Build Basic Rigid Body Tree Models

Use the elements of the rigid body tree robot model to build a basic robot arm with five degrees of freedom. The model built in this example represents a common table top robot arms built with servos and an integrated circuit board.
Open Live Script
Choose Trajectories for Manipulator Paths

Choose Trajectories for Manipulator Paths

Provides an overview of the types of trajectories available in Robotics System Toolbox™. For manipulator motion, planning, and control applications, you must choose a trajectory for the robot to follow. There are three main sections of this example. The first section shows the types of trajectories that manipulators use, the second section demonstrates functions for generating trajectories, and the final section shows more tools for trajectory planning.
Open Live Script
Interactively Build A Robot Trajectory

Interactively Build A Robot Trajectory

Build a trajectory using interactive markers on the ABB YuMi robot model. The interactiveRigidBodyTree object displays the rigid body tree robot model in an interactive figure. This example shows how to move different parts of the robot, design a trajectory, and save configurations.
Open Live Script
Plan and Execute Task- and Joint-Space Trajectories Using KINOVA Gen3 Manipulator

Plan and Execute Task- and Joint-Space Trajectories Using KINOVA Gen3 Manipulator

Generate and simulate interpolated joint trajectories to move from an initial to a desired end-effector pose. The timing of the trajectories is based on an approximate desired end of arm tool (EOAT) speed.
Open Live Script

Robotics System Toolbox Documentation

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