Robotics-toolbox-matlab tutorial

Download :

git clone https://github.com/petercorke/robotics-toolbox-matlab.git

1 Overview

该工具箱利用了MATLAB的固有功能（线性代数，可移植性，图形），为MATLAB提供了特定于机器人技术的功能。

工具箱使用一种非常通用的方法将串行链接操纵器的运动学和动力学表示为MATLAB对象–用户可以为任何串行链接操纵器创建机器人对象，并为Kinova的知名机器人提供了许多示例，Universal Robotics，Rethink以及Puma 560和Stanford手臂等经典机器人。该工具箱还支持具有以下功能的移动机器人：机器人运动模型（单轮脚踏车，自行车），路径规划算法（距离变换，D *，PRM），运动学规划（晶格，RRT），本地化（EKF，粒子过滤器），地图建立（EKF），同时定位和地图绘制（EKF），以及非完整车辆的Simulink模型。工具箱还包括用于四旋翼飞行机器人的详细Simulink模型。

2 Example

Example 1 puma560 :

>> mdl_puma560

p560

>> p560

p560 =

Puma 560 [Unimation]:: 6 axis, RRRRRR, stdDH, fastRNE

- viscous friction; params of 8/95;

+---+-----------+-----------+-----------+-----------+-----------+

| j | theta | d | a | alpha | offset |

+---+-----------+-----------+-----------+-----------+-----------+

| 1| q1| 0| 0| 1.5708| 0|

| 2| q2| 0| 0.4318| 0| 0|

| 3| q3| 0.15005| 0.0203| -1.5708| 0|

| 4| q4| 0.4318| 0| 1.5708| 0|

| 5| q5| 0| 0| -1.5708| 0|

| 6| q6| 0| 0| 0| 0|

+---+-----------+-----------+-----------+-----------+-----------+

>> p560.fkine([0 0 0 0 0 0]) % forward kinematics

ans =

1 0 0 0.4521

0 1 0 -0.15

0 0 1 0.4318

0 0 0 1

mdl_puma560

p = [0.8 0 0];

T = transl(p) * troty(pi/2);

qr(1) = -pi/2;

qqr = p560.ikine6s(T, 'ru');

qrt = jtraj(qr, qqr, 50);

plot_sphere(p, 0.05, 'y');

p560.plot3d(qrt, 'view', ae, 'movie', 'move2ball.gif');

Example2： Quadrotor animation

>> sl_quadrotor

Example 3

Mobile robot animation

q0 = [0 0 0]'; % initial configuration [x y theta]

qf = [0 0 pi]'; % final configuration

maxcurv = 1/5; % 5m turning circle

rs = ReedsShepp(q0, qf, maxcurv, 0.05)

% set up a vehicle model for animation

[car.image,~,car.alpha] = imread('car2.png');

car.rotation = 180; % degrees

car.centre = [648; 173]; % pix

car.length = 4.2; % m

% setup the plot

clf; plotvol([-4 8 -6 6])

a = gca;

a.XLimMode = 'manual';

a.YLimMode = 'manual';

set(gcf, 'Color', 'w')

grid on

a = gca;

xyzlabel

% now animate

plot_vehicle(rs.path, 'model', car, 'trail', 'r:', 'movie', '3point.gif');

3 Install from shared MATLAB Drive folder

This will work for MATLAB Online or MATLAB Desktop provided you have MATLAB drive setup.

1. Click on the appropriate link below and an invitation to share will be emailed to the address associated with your MATLAB account:

• RVC 2nd edition RTB10+MVTB4 (2017)
• RVC 1st edition: RTB9+MVTB3 (2011)

1. Accept the invitation.
2. A folder named RVC1 or RVC2 will appear in your MATLAB drive folder.
3. Use the MATLAB file browser and navigate to the folder RVCx/rvctools and double-click the script named startup_rvc.m

Other Toolbox

• Compliant joint toolbox, MATLAB and Simulink blocks to simulate robots with compliant joints
• ARTE: Robotics Toolbox for Education, a MATLAB toolbox focussed on industrial robotic manipulators, with rich 3D graphics, teach pendants and the ABB RAPID language.
• RTB interface to V-REP, a MATLAB class-based interface to the V-REP robotics simulator. Includes an implementation for the TRS task.
• MATLAB Interface for Mobile Robots (US NPL), a pure MATLAB toolbox for control of P3 mobile robots.
• Kuka-Sunrise toolbox, A Toolbox used to control KUKA iiwa 7 R 800 robot from an external computer using MATLAB.
• Robotics System Toolbox, MathWorks proprietary.

推荐书籍

• Probabilistic Robotics (Intelligent Robotics and Autonomous Agents series) 💵
• Introduction to Autonomous Mobile Robots (Intelligent Robotics and Autonomous Agents series) 💵
• Springer Handbook of Robotics 💵
• Planning Algorithms
• A gentle introduction to ROS
• A Mathematical Introduction to Robotic Manipulation
• Learning Computing With Robots
• Robotics, Vision and Control: Fundamental Algorithms in MATLAB (Springer Tracts in Advanced Robotics) 💵
• INTECH Books
• Introduction to Autonomous Robots
• Principles of Robot Motion: Theory, Algorithms, and Implementations 💵
• Introduction to Modern Robotics: Mechanics, Planning, and Control [pdf]
• Programming Robots with ROS: A Practical Introduction to the Robot Operating System 💵
• Learning ROS for Robotics Programming 💵
• Mastering ROS for Robotics Programming 💵
• Behavior Trees in Robotics and AI: An Introduction [pdf]
• Automated Planning and Acting [pdf]

4 Hands-on and Blogs

• ♥️ Mithi's Hexapod Robot Simulator Live Demo | Source Code
• ♥️ Akiyuki Kawaguchi
• ♥️ 📺 OpenDog + Mini Robot Dog, James Bruton
• ♥️ Building a DIY Arduino drone + 📺 channel, Joop Brokking
• ♥️ DIY Walkers, Ben Vagle
• ♥️ PythonRobotics, Atsushi Sakai
• F1/10 (Penn Engineering) | AutoRally (GeorgiaTech)
• Donkey Car | DIY Robocars | Formula Pi
• MIT Race Car | MIT RaceCar Team 5 Documentation
• Jetson Hacks | 💵 Racecar RJ
• Prof Daniela Rus | Sarah Tang | Beatty Robotics
• Andrew Dahdouh | Oscar Liang | Maurice Rahme