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
Copyright © 1990-2011 Peter Corke
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