robotics toolbox for matlab

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The Robotics Toolbox provides many functions that are useful in robotics such as kinematics, dynamics, and trajectory generation. The Toolbox is useful for simulation as well as analyzing results from experiments with with real robots.

The Toolbox is based on a very general method of representing the kinematics and dynamics of serial-link manipulators and models are provided for well known robots such as the Puma 560 and the Stanford arm.

Advantages of the toolbox are that

• the code is quite mature and provides a point of comparison for other implementations of the same algorithms,
• since source code is available there is a benefit for understanding and teaching.

The toolbox provides functions for manipulating datatypes such as vectors, homogeneous transformations and unit-quaternions which are necessary to represent 3-dimensional position and orientation. It also has facilities to graphically display the pose of any robot, see figure, given just the Denavit and Hartenberg parameters. The robot is drawn as a series of line segments linking the origins of the link reference frames, as shown below for a Puma 560 robot in the zero angle pose.

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