Documentation

Manipulator Algorithms

Inverse kinematics and dynamics for rigid body tree robot representations

These Robotics System Toolbox™ algorithms support workflows related to articulated robots. Define your robot model using theRigidBodyTreeclass, which is made up rigid bodies as structural elements and joints for attachment and motion. This robot representation contains kinematic constraints and dynamics properties. You can perform inverse kinematics and dynamics calculations on this robot model. If you have a robot description as a URDF file, you can import it usingimportrobot.

Functions

importrobot Import rigid body tree model from URDF file or text

Classes

robotics.Joint Create a joint
robotics.RigidBody Create a rigid body
robotics.RigidBodyTree Create tree-structured robot
robotics.InverseKinematics Create inverse kinematic solver
robotics.GeneralizedInverseKinematics Create multiconstraint inverse kinematics solver
robotics.OrientationTarget Create constraint on relative orientation of body
robotics.PositionTarget Create constraint on relative position of body
robotics.PoseTarget Create constraint on relative pose of body
robotics.AimingConstraint Create aiming constraint for pointing at a target location
robotics.CartesianBounds Create constraint to keep body origin inside Cartesian bounds
robotics.JointPositionBounds Create constraint on joint positions of robot model

Topics

Rigid Body Tree Robot Model

Model 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.

Inverse Kinematics Algorithms

Description of inverse kinematics solver algorithms and solver parameters

2-D Path Tracing With Inverse Kinematics

Trace A 2-D Circular Path Using A Robot Manipulator

使用ROS的动作与PR2手臂运动的控制verse Kinematics

这个例子展示了如何发送commands to robotic manipulators in MATLAB®.

Robot Dynamics

Robot dynamicsis the relationship between the forces acting on a robot and the resulting motion of the robot.

Control LBR Manipulator Motion Through Joint Torque Commands

Given a set of desired joint configuration waypoints and a torque-controlled manipulator, this example shows how to implement the computed-torque controller using therobotics.RigidBodyTree.inverseDynamics(Robotics System Toolbox)function.

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