Robotics Toolbox for MATLAB

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Robotics Toolbox for MATLAB
Developer(s) Peter Corke
Stable release 9.8 / February 2, 2013
Type Robotics suite
License LGPL

The Robotics Toolbox is MATLAB Toolbox software that supports research and teaching into arm-type and mobile robotics [1] .[2] This is free software but requires the proprietary MATLAB environment in order to execute. A subset of functions have been ported to GNU Octave. The Toolbox forms the basis of the exercises in the textbooks [3] .[4]

The Toolbox provides functions for manipulating and converting between datatypes such as: vectors;homogeneous transformations; roll-pitch-yaw and Euler angles and unit-quaternions which are necessary to represent 3-dimensional position and orientation. The Toolbox is useful for the study and simulation of:

  • Classical arm-type robotics: kinematics, dynamics, and trajectory generation. The Toolbox uses a very general method of representing the kinematics and dynamics of serial-link manipulators. These parameters are encapsulated in MATLAB objects, robot objects can be created by the user for any serial-link manipulator and a number of examples are provided for well known robots such as the Puma 560 and the Stanford arm amongst others. It can operate with symbolic values as well as numeric.
  • Ground robots and includes: standard path planning algorithms (bug, distance transform, D*, PRM), kinodynamic planning (RRT), localization (EKF, particle filter), map building (EKF) and simultaneous localization and mapping (EKF), and a Simulink model a of non-holonomic vehicle.
  • Flying quadrotor robots, and includes a detailed Simulink model.

See also[edit]


  1. ^ Straanowicz, Aaron; Gian Luca Mariottini (2011). "A Survey and Comparison of Commercial and Open-Source Robotic Simulator Software". Proceedings of the 4th International Conference on Pervasive Technologies Related to Assistive Environments. doi:10.1145/2141622.2141689. 
  2. ^ Nourdine, Aliane (September 2011). "Teaching fundamentals of robotics to computer scientists". Computer Applications in Engineering Education 19 (3): 615–620. doi:10.1002/cae.20342. 
  3. ^ Craig, John (2004). Introduction to Robotics (3rd edition). Prentice-Hall. 
  4. ^ Corke, Peter (2011). Robotics, Vision & Control. Springer. ISBN 978-3-642-20143-1. 

External links[edit]