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

Quaternion.inv

invert a quaternion

Quaternion.norm

norm of a quaternion

Quaternion.plot

display a quaternion as a 3D rotation

Quaternion.unit

unitize a quaternion

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

SerialLink.friction

return joint friction torques

SerialLink.nofriction

return a robot object with no friction

SerialLink.perturb

return a robot object with perturbed parameters

SerialLink.plot

plot/animate robot

SerialLink.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

SerialLink.fkine

forward kinematics

SerialLink.ikine

inverse kinematics (numeric)

SerialLink.ikine6s

inverse kinematics for 6-axis arm with sph.wrist

SerialLink.jacob0

Jacobian in base coordinate frame

SerialLink.jacobn

Jacobian in end-effector coordinate frame

SerialLink.maniplty

compute manipulability

Dynamics

SerialLink.accel

forward dynamics

SerialLink.cinertia

Cartesian manipulator inertia matrix

SerialLink.coriolis

centripetal/coriolis torque

SerialLink.fdyn

forward dynamics

wtrans

transform a force/moment

SerialLink.gravload

gravity loading

SerialLink.inertia

manipulator inertia matrix

SerialLink.itorque

inertia torque

SerialLink.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